Robust fuzzy control for vehicle lateral dynamic stability via Takagi-Sugeno fuzzy approach

Xianjian Jin, Guo-dong Yin, Junmin Wang
{"title":"Robust fuzzy control for vehicle lateral dynamic stability via Takagi-Sugeno fuzzy approach","authors":"Xianjian Jin, Guo-dong Yin, Junmin Wang","doi":"10.23919/ACC.2017.7963822","DOIUrl":null,"url":null,"abstract":"This paper presents a robust fuzzy H∞ controller design for vehicle lateral dynamic stability control via a Takagi-Sugeno (T-S) fuzzy modeling approach. As vehicle lateral dynamics possesses inherent nonlinearities, the main objective of this work is to deal with the nonlinear challenge in vehicle dynamics. First, the T-S fuzzy modeling approach is applied to represent the nonlinear Brush tire dynamics, and then the multi-model-based uncertain nonlinear vehicle lateral dynamics fuzzy system is established. In terms of the parallel-distributed compensation (PDC) strategy and defined premise variables, the robust fuzzy H∞ state-feedback controller is finally designed with Lyapunov theory and quadratic stabilization. Sufficient condition for the existence of such a robust fuzzy controller is derived and solved via a set of linear matrix inequalities. The simulations with a high-fidelity, CarSim®, full-vehicle model show the effectiveness of the proposed controller under a J turn-like maneuver.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2017-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"17","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 American Control Conference (ACC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.23919/ACC.2017.7963822","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 17

Abstract

This paper presents a robust fuzzy H∞ controller design for vehicle lateral dynamic stability control via a Takagi-Sugeno (T-S) fuzzy modeling approach. As vehicle lateral dynamics possesses inherent nonlinearities, the main objective of this work is to deal with the nonlinear challenge in vehicle dynamics. First, the T-S fuzzy modeling approach is applied to represent the nonlinear Brush tire dynamics, and then the multi-model-based uncertain nonlinear vehicle lateral dynamics fuzzy system is established. In terms of the parallel-distributed compensation (PDC) strategy and defined premise variables, the robust fuzzy H∞ state-feedback controller is finally designed with Lyapunov theory and quadratic stabilization. Sufficient condition for the existence of such a robust fuzzy controller is derived and solved via a set of linear matrix inequalities. The simulations with a high-fidelity, CarSim®, full-vehicle model show the effectiveness of the proposed controller under a J turn-like maneuver.
基于Takagi-Sugeno模糊方法的车辆横向动态稳定性鲁棒模糊控制
本文采用Takagi-Sugeno (T-S)模糊建模方法,设计了一种用于车辆横向动态稳定控制的鲁棒模糊H∞控制器。由于车辆横向动力学具有固有的非线性特性,本研究的主要目的是解决车辆动力学中的非线性问题。首先采用T-S模糊建模方法对非线性刷式轮胎动力学进行表征,然后建立基于多模型的不确定非线性车辆横向动力学模糊系统。根据并行分布补偿(PDC)策略和定义前提变量,利用李雅普诺夫理论和二次镇定设计了鲁棒模糊H∞状态反馈控制器。导出了该鲁棒模糊控制器存在的充分条件,并利用一组线性矩阵不等式求解了该控制器。采用高保真CarSim®整车模型进行的仿真显示了所提出的控制器在J型转弯机动下的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信