Jalali, K., Uchida, T., McPhee, J., and Lambert, S., "Development of an Advanced Fuzzy Active Steering Controller and a Novel Method to Tune the Fuzzy Controller," SAE Int. J. Passeng. Cars – Electron. Electr. Syst. 6(1):241-254, 2013, doi:10.4271/2013-01-0688.
A two-passenger, all-wheel-drive urban electric vehicle (AUTO21EV) with four direct-drive in-wheel motors has been designed and developed at the University of Waterloo. An advanced genetic-fuzzy active steering controller is developed based on this vehicle platform. The rule base of the fuzzy controller is developed from expert knowledge, and a multi-criteria genetic algorithm is used to optimize the parameters of the fuzzy active steering controller. To evaluate the performance of this controller, a computational model of the AUTO21EV is driven through several standard test maneuvers using an advanced path-following driver model. As the final step in the evaluation process, the genetic-fuzzy active steering controller is implemented in a hardware- and operator-in-the-loop driving simulator to confirm its performance and effectiveness.