Robust Braking/Driving Force Distribution and Active Front Steering Control of Vehicle System with Uncertainty

Paper #:
  • 2011-01-2145

Published:
  • 2011-09-13
Citation:
Huang, J., Huang, Q., and Cheng, A., "Robust Braking/Driving Force Distribution and Active Front Steering Control of Vehicle System with Uncertainty," SAE Technical Paper 2011-01-2145, 2011, https://doi.org/10.4271/2011-01-2145.
Pages:
9
Abstract:
Uncertainties present a large concern in actual vehicle motion and have a large effect on vehicle system control. We attempt a new robust control design approach for braking/driving force distribution and active front steering of vehicle system with uncertain parameters. The braking/driving force distribution control is equivalently studied as the integral direct yaw moment control. Then the control design is carried out by using a state-space vehicle model with embedded fuzzy uncertainties. By taking the compensated front wheel steering angle and the direct yaw moment as the control inputs, a feedback control that aims to compensate the system uncertainty is proposed. In a quite different angle, we employ fuzzy descriptions of the uncertain parameters. The controlled system performance is deterministic, and the control is not if-then rules-based. Fuzzy descriptions of the uncertain parameters are used to find an optimal control gain. The control is carried out systematically and numerical simulations are employed to show its effectiveness.
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