Optimal Direct Yaw Control for Sport Utility Vehicle Using PSO

Abstract

Nowadays the Sport Utility Vehicle (SUV) become more popular than sedan car around the world even in Malaysia. But, these types of vehicles have weaknesses such as higher center of gravity, heavier, side area and wheel base are larger than sedan car that lead to unstable vehicle handling during critical maneuver. Numerous researchers have proposed their control strategy in order to overcome this problem. However, there are less studies about the Linear Quadratic Integral (LQI) controller especially in the Direct Yaw Control (DYC) system. Therefore, in this paper, the development of the LQI controllers implemented in the DYC is researched and compared with Linear Quadratic Regulator (LQR) and Proportional-Integral-Derivative (PID) controller for the performances evaluation. Each controller optimized using Particle Swarm Optimization (PSO) algorithm and tested on lane change maneuver with interference of external disturbance and different road condition. With the help of PSO algorithm, the LQI controllers not only produce significant improvement in the lane change maneuver but the controller is more precise, faster tuning gains, robust against external disturbance and capable to endurance the maneuver with lower Root Mean Square Error (RMSE) compare with two other controllers.