Abstract

This paper presents the design and the simulation test of a Takagi-Sugeno (TS) fuzzy output feedback for yaw motion control. The control synthesis is conducted on a nonlinear model in which tire-road interactions are modeled using Pacejka's magic formula. Using sector approximation, a TS fuzzy model is obtained. It is able to handle explicitly the nonlinear Pacejka lateral tire forces including the decreasing or saturated region. The controller acts through the steering of the front wheels and the differential braking torque generation. The computation of the controller takes into account the constraints that the trajectories of the controlled vehicle remain inside an invariant set. This is achieved using quadratic boundedness theory and Lyapunov stability. Some design parameters can be adjusted to handle the trade-off between safety constraints and comfort specifications. The solution to the associated problem is obtained using Linear and Bilinear Matrix Inequalities (LMI-BMI) methods. Simulation tests show the controlled car is able to well achieve standard maneuvers such as the ISO3888–2 transient maneuver and the sine with dwell maneuver.

Highlights

  • Ground vehicles experience instabilities that are difficult for the driver to control

  • Recent studies have demonstrated that differential braking may have a better effect on yaw dynamics than independent active wheel braking [13], [14]

  • The dynamic output feedback formulation considered in this paper presents three main advantages: the use of only the yaw rate and the steering angle as controller input, better flexibility to formulate the stabilization conditions and the ability to handle input or state constraints and bounded disturbances

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Summary

INTRODUCTION

Ground vehicles experience instabilities that are difficult for the driver to control. The dynamic output feedback formulation considered in this paper presents three main advantages: the use of only the yaw rate and the steering angle as controller input, better flexibility to formulate the stabilization conditions and the ability to handle input or state constraints and bounded disturbances. This controller uses the property of quadratic boundedness and invariant set [4].

VEHICLE LATERAL DYNAMICS T-S MODEL
Lateral tire forces model
Four rules Takagi-Sugeno vehicle fuzzy model
Reference yaw rate tracking
DYNAMIC OUTPUT FEEDBACK FUZZY CONTROLLER
Invariant set and output feedback PDC control
Invariant set - quadratic boundedness
Controller synthesis
SIMULATION TESTS
Testing for the ISO 3888-2 maneuver
Sine with dwell maneuver
CONCLUSION
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