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Observer-Based Fuzzy Control for Four-Wheel Independently Driven Electric Vehicles with Active Steering Systems

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Abstract

This paper presents an observer-based control strategy to improve the maneuverability and stability performance of four-wheel independently driven electric vehicles with active front-wheel steering systems. Since the system states are difficult to be measured directly, a novel observer is designed to estimate the vehicle yaw rate and lateral velocity simultaneously. Takagi–Sugeno fuzzy model is used to handle the time-varying parameters of the vehicle model. Based on Lyapunov function theory, stability conditions of the closed-loop system are derived. The fuzzy \(H_{\infty }\) controller is designed to make the resulting T–S fuzzy system asymptotically stable and satisfy \(H_{\infty }\) performance under given constraints. Simulation results are given to demonstrate the validity of the presented control method.

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Funding

This work was partially supported by the National Natural Science Foundation of China (61703111, 61973091), the Guangdong Natural Science Funds for Distinguished Young Scholar (2019B151502026, 2017A030306014), the Innovative Research Team Program of Guangdong Province Science Foundation (2018B030312006) and the Science and Technology Program of Guangzhou (201904020006).

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Authors and Affiliations

  1. School of Automation and Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control, Guangdong University of Technology, Guangzhou, 51006, China

    Lin Chen, Panshuo Li, Wenshuai Lin & Qi Zhou

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  1. Lin Chen
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  2. Panshuo Li
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  4. Qi Zhou
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Correspondence to Qi Zhou.

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Chen, L., Li, P., Lin, W. et al. Observer-Based Fuzzy Control for Four-Wheel Independently Driven Electric Vehicles with Active Steering Systems. Int. J. Fuzzy Syst. 22, 89–100 (2020). https://doi.org/10.1007/s40815-019-00770-3

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