Samaranath R. Ranatunga, Zhenwei Cao, Romesh Nagarajah, and Ahmad Rad
Integrated vehicle control, nonlinear control, adaptive fuzzy control,robust control, variable structure control
This paper presents a robust integrated lateral and longitudinal vehicular controller design which improves tracking control of pas- senger cars. An adaptive fuzzy controller is used to compensate the coupling effects, nonlinearity issues and uncertainties. Additionally, a variable structure control scheme is used to address fuzzy ap- proximation errors. A Lyapunov-based Kalman–Yakubovich–Popov (KYP) lemma is used to ensure system stability. The effectiveness of the developed control system is validated with simulation studies us- ing a high precision vehicle model on veDYNA r , a well-recognized simulation platform used by industry for research and development.
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