Comparison of neural network and neurofuzzy identification of vehicle handling under uncertainties

Abstract

In this study, two adaptive neural network and neurofuzzy identification models are proposed to identify vehicle handling under uncertainties. These models are used to identify vehicle handling in different road friction coefficients and velocities. These two identification models modify their weights to cope with uncertainties using back propagation of error as a learning algorithm. However, an adaptive model has some limitations to identify real systems. The ability of adaptation is not the same for all identification models; some models are more robust to cope with a specific uncertainty or a wider range of uncertainties. In this study, adaptiveness of two identification models are compared under two different uncertainties. First, a precise model in CARSIM software is simulated and a set of input/output data of vehicle response are collected. Then an initial three-layer neural network is trained in MATLAB software. In addition, a Neurofuzzy model is also trained in ANFIS (adaptive neurofuzzy inference system) toolbox of MATLAB software. Then this trained model is applied to the vehicle in different maneuvers, velocities and road friction coefficients. Results show that proposed neural network identifies the vehicle handling more efficiently than neurofuzzy model in conditions that are away from training condition. However, proposed neurofuzzy model is more precise and accurate than neural network in the training condition.