This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Use of Fuzzy Logic in Wheel Slip Assignment - Part I: Yaw Rate Control
Technical Paper
2002-01-1221
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
This paper describes the use of logic-based control for the purpose of determining and assigning desired wheel slips for each corner of a vehicle. The control objective is to track overall desired vehicle dynamics, such as tracking a desired vehicle yaw rate, Ωd, by assigning an appropriate wheel slip, λ, to each corner of the vehicle. Each of these wheel slips is used as reference input wheel slip, λr, for a wheel dynamics control system. This setup can be thought of behaving like a hierarchical control system (higher-level control system interacting with a lower level control system). This paper focuses on developing the higher-level logic based controller. The logic controller uses fuzzy logic control techniques. In conventional fuzzy logic control, a two-dimensional rule table is created based on the error between the desired and actual signals, and on the change in the error. The fuzzy logic controller presented in this paper is based on the work performed by Choi, et.al. [5]. This method combines the two controller inputs into a single input. The rule table elements are filled in, and adjusted based on the expertise of the designer. A rule table is created for each wheel based on how a wheel is classified in relationship to the turn of the vehicle (i.e. inside front, outside rear). These classifiers are then assigned to the appropriate wheel online. An emergency lane change simulation is performed to show the effectiveness of the control.
Recommended Content
Authors
Topic
Citation
Buckholtz, K., "Use of Fuzzy Logic in Wheel Slip Assignment - Part I: Yaw Rate Control," SAE Technical Paper 2002-01-1221, 2002, https://doi.org/10.4271/2002-01-1221.Also In
References
- Branicky M. S. Stability of hybrid systems: state of the art Proceedings of the 36th Conference on Decision & Control 1997
- Buckholtz K. R. Use of fuzzy logic in wheel slip assignment - Part II: yaw rate control with sideslip angle limitation SAE World Congress 2002
- Buckholtz K. R. Reference input wheel slip tracking using sliding mode control SAE World Congress 2002
- Chee W. Tomizuka M. Lane change maneuver for AHS applications Proceedings of the International Symposium on Advanced Vehicle Control 1994
- Choi B.-Y. Kwak S.-W. Kim B. K. Design and stability analysis of single-input fuzzy logic controller IEEE Transactions on Systems, Man, and Cybernetics — Part B: Cybernetics 30 (2) April 2000
- Decarlo R. A. Branicky M. S. Pettersson S. Lennartson B. Perspective and results on the stability and stabilizability of hybrid systems Proceedings of the IEEE 88 (7) July 2000
- Diaβ A. Kiencke U. Estimation of vehicle speed fuzzy-estimation in comparison with Kalman-filtering Proceedings of the 4th IEEE Conference on Control Applications 1995
- Furuta T. Tomiyama K. A hybrid control architecture with a fuzzy supervisory controller and slave controller modules AMC ’96 - MIE Proceedings, 4th International Workshop on Advanced Motion Control 1 1996
- Hać A. Evaluation of two concepts in vehicle stability enhancement systems ASME 1998
- Inagaki S. Kshiro I. Yamamoto M. Analysis on vehicle stability in critical cornering using phase-plane method Proceedings of the International Symposium on Advanced Vehicle Control 1994
- Kimbrough S. Rule based wheel slip assignment for vehicle stability enhancement SAE International Congress & Exposition 1999
- Lim H. K. Leung F. H. F. Tam P. K. S. An improved stability analysis and design of fuzzy control systems 1999 IEEE International Fuzzy Systems Conference Proceedings 1999
- Layne J. R. Passino K. M. Yurkovich s. Fuzzy learning control for antiskid braking systems IEEE Transactions on Control Systems Technology 1 (2) June 1993
- Lee G. D. Yim Y. U. Oh S. H. Kim S. W. Jung J. H. Kim B. S. Longitudinal and lateral control system development for a platoon of vehicles Proceedings of the 1999 IEEE/IEE/JSAI International Conference on Intelligent Transportation Systems 1999
- Li H.-X. Guan S. Hybrid intelligent control strategy: supervising a DCS-controlled batch process IEEE Control Systems Magazine 21 (3) June 2001
- Lin S.-T. Huang A.-K. Hierarchical fuzzy force control for industrial robots IEEE Transactions on Industrial Electronics 45 (4) August 1998
- Lin W.-S. Tsai C.-H. Robust discrete-time fuzzy control of composite nonlinear systems by tuning consequent membership functions Proceedings of the American Control Conference 1999
- Manning W. Crolla D. Brown M. Selby M. Coordination of chassis control systems for vehicle motion control Proceedings of AVEC 2000: 5th International Symposium on Advanced Vehicle Control 2000
- Mauer G. F. A fuzzy logic controller for an ABS braking system IEEE Transactions on Fuzzy Systems 3 (4) November 1995
- Mauer G. F. Gissinger G. F. Chamaillard Y. Fuzzy logic continuous and quantizing control of an ABS braking system SAE International Congress & Exposition 1994
- Mazumdar S. K. Lin C. C. Investigation of the use of neural networks for antiskid brake system design Proceedings of the IEEE International Conference on Neural Networks 1995
- Naito G. Inoue H. Matsumoto S. Improvement in active safety through braking and traction control 5th FISITA Congress: Automobile in Harmony with Human Society 1994
- Passino K. M. Yurkovich S. Fuzzy Control Addison Wesley Longman, Inc. 1998
- Shavrin P. A. Control of independent rear wheel drive vehicle Proceedings of the 34th Conference on Decision & Control 1995
- Shorten R. N. Narendra K. S. Investigating the stability of a class of hybrid system Computing & Control Engineering Journal April 1998
- Smakman H. Functional integration of active suspension with slip control for improved lateral vehicle dynamics Proceedings of AVEC 2000: 5th International Symposium on Advanced Vehicle Control 2000
- van Zanten A. T. Erhardt R. Landesfeind K. Pfaff G. VDC systems development and perspective SAE World Congress 1998
- van Zanten A. T. Erhardt R. Pfaff G. VDC, the vehicle dynamics control system of Bosch SAE International Congress and Exposition 1995
- Wang L.-X. Adaptive Fuzzy Systems and Control: Design and Stability Analysis PTR Prentice Hall 1994
- Zhivoglyadov P. V. Middleton R. H. On stability in hybrid systems Proceedings of the 37th IEEE Conference on Decision & Control 1998