Improved Vehicle Lateral Dynamics with Takagi-Sugeno H_∞ Fuzzy Control Strategy for Emergency Maneuvering

摘要

This paper presents an active front steering (AFS) and direct yaw moment control (DYC) design to improve the vehicle lateral stability and handling performance for emergency maneuvers. Inherited vehicle nonlinear tire forces are first modeled by Pajecka tire model. Tagaki-Sugeno (T-S) fuzzy approach is employed to model the nonlinear tire forces. Then an H_∞ state-feedback controller is applied to the nonlinear vehicle lateral dynamics model with the parallel distributed compensation (PDC) strategy. The Lyapunov stability based linear matrix inequalities (LMIs) solution is obtained through a suboptimal energy-to-energy performance norm of the nonlinear system. Simulations are carried out to demonstrate the effectiveness of the proposed method. The results are promising that vehicle's lateral stability and handling performance can be significantly improved with the proposed design technique.