In this paper, the authors present an algorithm based on fuzzy control to improve the stability and to prevent rollover of the vehicle when road adhesion conditions change. It's supposed that roll rate can be measured easily by sensors, but roll angle is not measured. The roll angle and roll rate have been estimated from measurable signals such as lateral acceleration, yaw rate and the vehicle parameter. After giving the nonlinear model of the vehicle, its representation by an uncertain T-S fuzzy model is discussed. Next, based on the uncertain fuzzy model of the vehicle a fuzzy controller and a fuzzy observer are developed. The closed loop stability conditions of a vehicle with the fuzzy controller based on observer are given in terms of linear matrix inequality (LMI) problem witch can be solved very efficiently using the convex optimization techniques. The numerical simulation of the vehicle handling with and without the developed observer and controller has been carried out to demonstrate the effectiveness of the proposed algorithm in terms of improving the vehicle stability using active safety system.
Observer based robust fuzzy control for vehicle stability
Beobachter-basierte robuste Fuzzy-Regelung für die Fahrzeugstabilität
2008
6 Seiten, 7 Bilder, 20 Quellen
Conference paper
English
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