Nonlinear fuzzy MPC control for vehicles under extreme conditions

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Journal of Vibration and Shock ›› 2023, Vol. 42 ›› Issue (13) : 25-35.

SUN Chuanbin1,2, DENG Shuchao1, YIN Guodong2

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Abstract

Aiming at yaw stability and roll stability of vehicle under emergency steering, nonlinear model predictive (MPC) integrated control of active front wheel steering (AFS) and direct yaw moment (DYC) was studied. Considering nonlinear variation of vehicle lateral stiffness, four linear yaw- roll subsystems of vehicle were established with Takagi-Sugeon theory (T-S), and dynamic parameters of tire were obtained with fuzzy observer in real time. In order to eliminate yaw stability constraint, an improved yaw ideal reference model was established under T-S framework, and a yaw stability index was introduced to constrain ideal yaw motion. Building optimal target in infinite prediction time domain with quadratic evaluation function of tracking deviation for yaw angular velocity, side-slip Angle, as roll motion and control input, model predictive fuzzy controller (MPC-TS) was designed based on distributed compensation scheme, with driver steering inputs as disturbance, and adaptive active steering constraints according to cornering characteristics. The nonlinear MPC control in infinite time domain was transformed into a convex optimization process with LMIS, and linear inequality of minimum value problem was derived under steering disturbance. Finally, simulation test was carried out with Trucksim-Simulink software, with Sine with Dwell curve and Fishhook curve as driver inputs to simulate emergency steering. Results show that despite in strongly nonlinear process under emergency steering disturbance, MPC-TS controller enhances yaw - roll stability of vehicle on both low adhesion and high adhesion road friction.

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AFS-DYC integrated control / extreme steering condition / yaw stability / roll stability / fuzzy predictive control

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SUN Chuanbin1,2, DENG Shuchao1, YIN Guodong2. Nonlinear fuzzy MPC control for vehicles under extreme conditions[J]. Journal of Vibration and Shock, 2023, 42(13): 25-35

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