Longitudinal and lateral coupling vehicle stability controller designed based on piecewise T-S fuzzy model

Abstract

Due to tire force coupling and load transfer coupling during the stability control process, the vehicle longitudinal and lateral dynamics shows particularly obvious nonlinear coupling characteristics, which will deteriorate the performance of the stability controller. This paper proposes a Vehicle Stability Controller considering the vehicle longitudinal and lateral coupling characteristics. First, a piecewise guidance method, including the Adaptive Linear Regression Algorithm and Dimensionless Performance Evaluation Weighting Function, is developed to ensure the Takagi-Sugeno fuzzy model piecewise approaches the nonlinear characteristics of the original system and obtains the multiple linear fuzzy subsystems. Then, an H∞ robust controller with dynamic output feedback is used in each fuzzy subsystem based on the identification result of the driving intention, and the Linear Matrix Inequality is applied to obtain the controller gains. Subsequently, the Parallel Distributed Compensation architecture is adopted to integrate the outputs of all fuzzy subsystems, and vehicle stability controller is realized by using a rule-based control distribution strategy. The proposed controller is evaluated by simulations and hardware in the loop tests, and the results demonstrate satisfactory longitudinal following ability and lateral stability.