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Publication Details
AFRICAN RESEARCH NEXUS
SHINING A SPOTLIGHT ON AFRICAN RESEARCH
engineering
Direct yaw-moment control of an in-wheel-motored electric vehicle based on body slip angle fuzzy observer
IEEE Transactions on Industrial Electronics, Volume 56, No. 5, Year 2009
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Description
A stabilizing observer-based control algorithm for an in-wheel-motored vehicle is proposed, which generates direct yaw moment to compensate for the state deviations. The control scheme is based on a fuzzy rule-based body slip angle β observer. In the design strategy of the fuzzy observer, the vehicle dynamics is represented by Takagi-Sugeno-like fuzzy models. Initially, local equivalent vehicle models are built using the linear approximations of vehicle dynamics for low and high lateral acceleration operating regimes, respectively. The optimal β observer is then designed for each local model using Kalman filter theory. Finally, local observers are combined to form the overall control system by using fuzzy rules. These fuzzy rules represent the qualitative relationships among the variables associated with the nonlinear and uncertain nature of vehicle dynamics, such as tire force saturation and the influence of road adherence. An adaptation mechanism for the fuzzy membership functions has been incorporated to improve the accuracy and performance of the system. The effectiveness of this design approach has been demonstrated in simulations and in a real-time experimental setting. © 2009 IEEE.
Authors & Co-Authors
Geng, Cong
Japan, Tokyo
The University of Tokyo
Lotfi, Mostefai
Algeria, Saida
Université dr Taher Moulay Saida - Algeria
Denaï, Mouloud Azzedine
Algeria, Oran
Université Des Sciences et de la Technologie D’oran Mohamed-boudiaf
United Kingdom, Sheffield
The University of Sheffield
Hori, Yoichi
Japan, Tokyo
Institute of Industrial Science
Statistics
Citations: 269
Authors: 4
Affiliations: 5
Identifiers
Doi:
10.1109/TIE.2009.2013737
ISSN:
02780046
Study Approach
Qualitative