• ISSN 0258-2724
  • CN 51-1277/U
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Volume 29 Issue 6
Nov.  2016
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Article Contents
Journal of Southwest Jiaotong University  > 2016  >  29(6): 1064-1072.
JIN Lisheng, GAO Linlin, XIE Xianyi, WANG Faji, LI Keyong. Fuzzy-optimal Control of Four-Wheel Independent Steering Vehicles[J]. Journal of Southwest Jiaotong University, 2016, 29(6): 1064-1072. doi: 10.3969/j.issn.0258-2724.2016.06.004
Citation: JIN Lisheng, GAO Linlin, XIE Xianyi, WANG Faji, LI Keyong. Fuzzy-optimal Control of Four-Wheel Independent Steering Vehicles[J]. Journal of Southwest Jiaotong University, 2016, 29(6): 1064-1072. doi: 10.3969/j.issn.0258-2724.2016.06.004
shu

Fuzzy-optimal Control of Four-Wheel Independent Steering Vehicles

doi: 10.3969/j.issn.0258-2724.2016.06.004
  • Received Date: 13 Apr 2016
  • Publish Date: 25 Dec 2016
    Abstract
  • A fuzzy-optimal control method was proposed to improve the handling stability of four-wheel independent steering (4WIS) vehicles. Upon completion of the optimal controller designing, the influence of optimal control parameters on control performance and the dynamic characteristic of 4WIS vehicles were analyzed, and a control parameters adjustment strategy based on the vehicle steering state was proposed. By using fuzzy control theory, a fuzzy logic control parameter adjuster was put forward, which can achieve the self-adjustment of optimal control parameters. Simulation experiments were done by using an eight-degree-of-freedom dynamic model of 4WIS vehicle. The simulation results show that the proposed fuzzy-optimal controller can effectively improve the handling stability and safety of 4WIS vehicles. The ideal steering states can be guaranteed even under high speed and low adhesion conditions. Moreover, the proposed controller also provides a good robustness to reject strong cross-wind disturbance, which ensure the vehicle safety under lateral disturbance. In the conditions of strong cross-wind (with a speed of 90 km/h) disturbance and without driver intervention, the lateral deviation of 4WIS vehicle under the control of the proposed system is only 0.78 m at a driving distance of 320 m.

     

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