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Robust H-infinity Fuzzy Output Feedback Control for Path Following of FWID-EVs with Actuator Saturation

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Abstract

This article introduces a robust H-infinity fuzzy static output feedback (RHF-SOF) control with norm-bounded strategy to enhance the path-following performance for the four-wheel-independent-driven electric vehicles (FWID-EVs). Firstly, taking the parameter uncertainties including vehicle mass, moment of inertia, longitudinal velocity, and tire cornering stiffness into account, a fuzzy optimization model is constructed to approximate the nonlinear characteristic of the vehicle system using both the parameter uncertainty reduction strategy and polytope reduction strategy. Secondly, with consideration of the difficulty of the online lateral velocity measurement, a Lyapunov stability-based RHF-SOF control with the gain scheduling method is proposed to control the variables of the path following. Thirdly, since the actuator saturation can deteriorate the control performances, a norm-bounded strategy is designed to address the nonlinear saturation problem. The proposed controller is verified and evaluated through the hardware-in-the-loop experimental test with different maneuvers.

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Abbreviations

m :

Mass of vehicle

\(m_{\max }/m_{\min }\) :

Maximum/minimum value of mass

\(I_{z}\) :

Moment of inertia

\(I_{z \max }/I_{z \min }\) :

Maximum/minimum value of moment of inertia

CG :

Center of gravity

\(C_{f} / C_{r}\) :

Front/rear cornering stiffness

\(C_{f\max }/C_{f\min }\) :

Maximum/minimum front cornering stiffness

\(C_{r\max }/C_{r\min }\) :

Maximum/minimum rear cornering stiffness

\(l_{f} / l_{r}\) :

Distance between CG to front/rear axle

\(F_{y f}/F_{y r}\) :

Front/rear lateral forces

\(v_{x} / v_{y}\) :

Longitudinal/lateral velocity of vehicle

r :

Yaw rate of vehicle

\(M_{z}\) :

External yaw moment

\(\alpha _{f} / \alpha _{r}\) :

Slip angles of front/rear wheel

\(\psi _{d} / \psi _{h}\) :

Desired/actual heading angle

\(\psi\) :

Heading error

e :

Lateral offset

\(\rho\) :

Curvature of the desired path

\(\delta\) :

Front wheel steering angle

\(L_{i j}\) :

Distance between the vertex coordinates

sat(u):

Saturation function of actuator input

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Acknowledgements

This work is supported by National Natural Science Foundation of China (Grant No. 52175127), the Natural Science Foundation of Guangdong Province of China (Grant No. 2022A1515011495), the China Postdoctoral Science Foundation (Grant No. 2022M712383), the Joint Project of Natural Science Foundation of Liaoning Province of China (Grant No. 2021-KF-11-02), the Fundamental Research Funds for the Central Universities (Grant No. N2203012), and the research Grant of the University of Macau (Grant Nos. MYRG2020-00045-FST and MYRG2022-00099-FST).

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Authors and Affiliations

  1. School of Mechanical Engineering and Automation, Northeastern University, Shenyang, 110819, Liaoning, China

    Taiyou Liu, Xiaowei Wang, Jing Zhao & Yongfu Wang

  2. State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, 110819, Liaoning, China

    Jing Zhao

  3. Department of Electromechanical Engineering, University of Macau, Taipa, 999078, Macau

    Pak Kin Wong

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Correspondence to Jing Zhao.

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Liu, T., Wang, X., Zhao, J. et al. Robust H-infinity Fuzzy Output Feedback Control for Path Following of FWID-EVs with Actuator Saturation. Int. J. Fuzzy Syst. 25, 1674–1688 (2023). https://doi.org/10.1007/s40815-023-01469-2

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