Design and experimental research of observer-based adaptive type-2 fuzzy steering control for automated vehicles with prescribed performance

Abstract

Steer-by-Wire (SbW) system is a significant electromechanical subsystem of automated vehicles. This paper proposes an observer-based type-2 fuzzy control method for the SbW system with uncertain nonlinearity, unknown modeling parameters, and unavailable state. First, an interval type-2 fuzzy logic system (IT2 FLS) and an IT2 FLS-based state observer are constructed to estimate the uncertain nonlinearity and unavailable state of SbW systems. Then, a prescribed performance control (PPC) method is proposed to achieve the prescribed tracking performance of SbW systems. Much importantly, a modified performance function is incorporated in this control method, such that the prescribed tracking performance can be guaranteed within a finite time regardless of the initial state. Finally, simulation and vehicle experiments are given to verify the effectiveness and superiority of the proposed methods.