Abstract
This paper proposes a robust lateral control system with fuzzy state observer based on Takagi-Sugeno fuzzy model of autonomous four-wheel independent drive electric vehicles (A-4WDEVs) considering the roll effects and actuator faults. Firstly, a Takagi-Sugeno fuzzy model of A-4WDEVs with uncertainties, time-varying parameters and actuator faults is presented, which can describes the coupling lateral and roll dynamic features of A-4WDEVs. Then, a robust H∞ state feedback lateral control system of A-4WDEVs is proposed to deal with the characteristics of uncertainties and external disturbance and produce the desired front wheel steering angle and external yaw moment of A-4WDEVs. Next, the control allocation law of additional longitudinal tire forces of A-4WDEVs is reviewed as a quadratic programming problem to achieve the desired external yaw moment. Furthermore, a Takagi-Sugeno fuzzy observer is designed to estimate the roll angle and roll angle rate of A-4WDEVs in real time. Finally, simulation and experimental results are provided to demonstrate the effectiveness of the proposed control scheme.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.