This paper presents a fuzzy controller for high-speed four-wheel-steering (4WS) vehicles based on the state-feedback and the sliding-mode control methods. In the proposed fuzzy controller, the consequent part of the fuzzy IF-THEN rules consists of either a sliding-mode controler or a state-feedback controller. Also, it will be proved that, if every fuzzy rule is stable in the sense of Lyapunov for a general Lyapunov function, defined for the whole system, then the whole system is stable in the sense of Lyapunov. The effectiveness of the proposed method for handling improvement of the 4WS systems will be demonstrated by simulations using a nonlinear vehicle model. The simulation results show that the proposed control method can enhance the dynamic response of the 4WS vehicles by reducing the transient response time and improving vehicle stability as compared to the sliding-mode and the fuzzy sliding-mode control methods.


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    Title :

    Hybrid state-feedback sliding-mode controller using fuzzy logic for four-wheel-steering vehicles


    Additional title:

    Sliding-Mode-Regler für 4WS-Fahrzeuge auf der Grundlage der Fuzzy-Logik mit Zustandsrückkopplung


    Contributors:

    Published in:

    Vehicle System Dynamics ; 47 , 3 ; 265-284


    Publication date :

    2009


    Size :

    20 Seiten, 12 Bilder, 3 Tabellen, 31 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





    Hybrid state-feedback sliding-mode controller using fuzzy logic for four-wheel-steering vehicles

    Alfi, Alireza / Farrokhi, Mohammad | Taylor & Francis Verlag | 2009


    Hybrid state-feedback sliding-mode controller using fuzzy logic for four-wheel-steering vehicles

    Alfi,A. / Farrokhi,M. / Iran Univ.of Science a.Technol.,IR | Automotive engineering | 2009


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