Paper Info
Title
Invariant set based vehicle handling improvement at tire saturation using fuzzy output feedback
Abstract
This paper firstly reviews of the analysis of the nonlinear behavior of the vehicle lateral dynamics. The (αf, αf) phase plane is used in order to quantify the stability region of the vehicle under different forward speed, steering angle and road adhesion. The tire-road interaction forces are modeled using Pacejka's magic formula. In a second step, the exact linear sectors procedure is used for representation of nonlinear functions in order to derive a Takagi-Sugeno (TS) fuzzy model. This model copes the behavior of the lateral tire forces including the linear, decreasing and saturated regions. Thereafter, a Takagi-Sugeno fuzzy output feedback is designed for yaw motion control. The controller acts through the steering of the front wheels and the differential braking torque generation. The computation of the controller is performed in such a way that the trajectories of the controlled vehicle remain inside an invariant set even when it is under disturbance input. This is achieved using quadratic boundedness theory and Lyapunov stability. Simulation tests show that the controlled car is able to satisfactorily perform standard maneuvers such as the ISO3888-2 transient maneuver and the roundabout maneuver.
Year
DOI
Venue
2011
10.1109/IVS.2011.5940551
Intelligent Vehicles Symposium
Keywords
Field
DocType
Lyapunov methods,adhesion,braking,feedback,fuzzy control,motion control,nonlinear dynamical systems,nonlinear functions,position control,road vehicles,steering systems,tyres,vehicle dynamics,IS03888-2 transient maneuver,Lyapunov stability,Pacejka magic formula,Takagi-Sugeno fuzzy output feedback,controller computation,differential braking torque generation,front wheels,invariant set,lateral tire,linear sector procedure,nonlinear function representation,quadratic boundedness theory,road adhesion,stability region,standard maneuvers,steering angle,tire saturation,tire-road interaction force,vehicle handling,vehicle lateral dynamics,yaw motion control,BMI,Fuzzy control,LMI,Output feedback,Vehicle handling
Motion control,Control theory,Automobile handling,Control theory,Fuzzy logic,Lyapunov stability,Phase plane,Vehicle dynamics,Fuzzy control system,Engineering
Conference
ISSN
ISBN
Citations 
1931-0587
978-1-4577-0890-9
0
PageRank 
References 
Authors
0.34
4
6
Name
Order
Citations
PageRank
Naima Ait Oufroukh1187.44
André Benine-Neto293.58
Zedjiga Yacine392.41
Saïd Mammar433746.86
Sébastien Glaser522628.66
Benine-Neto, A.600.34