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Direct yaw-moment control of an in-wheel-motored electric vehicle based on body slip angle fuzzy observer

Geng, C., Mostefai, L., Denai, M. and Hori, Y. (2009) Direct yaw-moment control of an in-wheel-motored electric vehicle based on body slip angle fuzzy observer. IEEE Transactions on Industrial Electronics, 56 (5). pp. 1411-1419. ISSN 0278-0046


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A stabilizing observer-based control algorithm for an in-wheel-motored vehicle is proposed, which generates direct yaw moment to compensate for the state deviations. The control scheme is based on a fuzzy rule-based body slip angle (beta) observer. In the design strategy of the fuzzy observer, the vehicle dynamics is represented by Takagi-Sugeno-like fuzzy models. Initially, local equivalent vehicle models are built using the linear approximations of vehicle dynamics for low and high lateral acceleration operating regimes, respectively. The optimal beta observer is then designed for each local model using Kalman filter theory. Finally, local observers are combined to form the overall control system by using fuzzy rules. These fuzzy rules represent the qualitative relationships among the variables associated with the nonlinear and uncertain nature of vehicle dynamics, such as tire force saturation and the influence of road adherence. An adaptation mechanism for the fuzzy membership functions has been incorporated to improve the accuracy and performance of the system. The effectiveness of this design approach has been demonstrated in simulations and in a real-time experimental setting

Item Type: Article
Copyright, Publisher and Additional Information: © Copyright 2009 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Keywords: Fuzzy observer; local modeling; state feedback; vehicle lateral dynamics
Institution: The University of Sheffield
Academic Units: The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield)
Depositing User: Miss Anthea Tucker
Date Deposited: 19 Jun 2009 11:13
Last Modified: 27 Apr 2016 15:32
Published Version: http://dx.doi.org/10.1109/TIE.2009.2013737
Status: Published
Publisher: Institute of Electrical and Electronics Engineers
Refereed: Yes
Identification Number: 10.1109/TIE.2009.2013737
URI: http://eprints.whiterose.ac.uk/id/eprint/8642

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