Takagi-sugeno fuzzy model predictive controller design for combining lane keeping and speed tracking of four wheels steering and four wheels drive electric vehicle

摘要

Most of the previous lane keeping algorithms are designed for the vehicle lateral control without considering the longitudinal dynamic characteristic. In this paper a new controller for combining lane keeping and speed tracking of four wheels steering and four wheels drive electric vehicle is presented. Firstly, the nonlinear system model is constructed considering the vehicle longitudinal and lateral dynamic behaviors. Then, the Takagi-Sugeno (T-S) fuzzy model is built to approximate the nonlinear model by local linear models with fuzzy rules. Finally, the vehicle controller is devised via fuzzy model predictive control (FMPC) to cope with the physical actuator limit and ensure the control performance. Simulations of Simulink and Carsim suggest that the proposed controller is competent for lane keeping and speed tracking on curve road with varying desired speed.