A novel genetic-programming based differential braking controller for an $$8 \times 8$$ combat vehicle

Abstract

Lateral stability of multi-axle vehicle’s was not considered and studied widely despite its advantages and utilization in different fields such as transportation, commercial, and military applications. In this research, a novel adaptive Direct Yaw moment Control based on Genetic-Programming (GPDB) is developed and compared with an Adaptive Neuro-Fuzzy Inference System (ANFIS). In addition, a phase-plane analysis of the vehicles nonlinear model is also discussed to introduce the activation criteria to the proposed controller in order to prevent excessive control effort. The controller is evaluated through a series of severe maneuvers in the simulator. The developed GPDB resulting in comparable performance to the ANFIS controller with better implementation facility and design procedure, where a single equation replaces multiple fuzzy rules. The results show fidelity and the ability of the developed controller to stabilize the vehicle near limit-handling driving conditions.