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


          

刊名：Vehicle System Dynamics
作者：Alireza Alfi（Department of Electrical Engineering, Iran University of Science and Technology, Tehran, Iran）
Mohammad Farrokhi
刊号：873LB055
ISSN：0042-3114
出版年：2009
年卷期：2009, vol.47, no.3
页码：265-284
总页数：20
分类号：U46
关键词：Four-wheel-steering vehicles；Sliding-mode control；State-feedback control；Hybrid fuzzy controller；Stability
参考中译：
语种：eng
文摘：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 controller 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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