کنفرانس مهندسی برق ایران

صفحه اصلی / سی و سومین کنفرانس بین المللی مهندسی برق

Vehicle stability control and trajectory tracking utilizing a type-2 fuzzy controller

نویسندگان :

Mohammad Mahdavi Mazdeh¹ Mehdi Pourgholi² Vahid Fakhari³

1- دانشگاه شهید بهشتی 2- دانشگاه شهید بهشتی 3- دانشگاه شهید بهشتی

کلمات کلیدی :

Vehicle Electronic Stability Control،vehicle dynamics،Type-2 fuzzy controller،fuzzy logic

چکیده :

Vehicle dynamic control presents significant challenges in maintaining stability during complex maneuvers, particularly when addressing side slip angle and yaw moment dynamics. This research introduces an advanced tracking control methodology utilizing a seven-degree-of-freedom vehicle model with comprehensive translational and rotational movement capabilities. A novel optimal type-2 fuzzy controller is proposed to address vehicular stability during directional transitions and curved trajectory navigation. The methodology integrates side slip angle errors, yaw rate, and temporal variation as sophisticated control inputs, enabling precise longitudinal thrust force and stabilized yaw moment . Utilizing a two-wheeled idealized model and an innovative closed-loop optimization approach, The proposed framework calculates comprehensive four-wheel torque allocation, facilitating enhanced dynamic response and stability management. Simulation experiments validate the controller’s effectiveness in maintaining vehicular stability, demonstrating significant potential for mitigating side slip risks and improving directional control performance across diverse vehicular operating conditions.