Abstract
Lateral stability of multi-axle vehicle’s was not considered and studied widely despite its advantages and utilization in different fields such as transportation, commercial, and military applications. In this research, a novel adaptive Direct Yaw moment Control based on Genetic-Programming (GPDB) is developed and compared with an Adaptive Neuro-Fuzzy Inference System (ANFIS). In addition, a phase-plane analysis of the vehicles nonlinear model is also discussed to introduce the activation criteria to the proposed controller in order to prevent excessive control effort. The controller is evaluated through a series of severe maneuvers in the simulator. The developed GPDB resulting in comparable performance to the ANFIS controller with better implementation facility and design procedure, where a single equation replaces multiple fuzzy rules. The results show fidelity and the ability of the developed controller to stabilize the vehicle near limit-handling driving conditions.
Similar content being viewed by others
References
Ono E, Hosoe S, Tuan H-D, Doi S (1996) Robust stabilization of vehicle dynamics by active front wheel steering control. In: Proceedings of 35th IEEE Conference on Decision and Control, vol 2, pp 1777–1782
Manning WJ, Crolla DA (2007) A review of yaw rate and sideslip controllers for passenger vehicles. Trans Inst Meas Control 29:117–135
Yasuji S, Namio I, Hideo I, Kenji N (1986) The development of an experimental four-wheel-steering vehicle. SAE Trans 95:862–869
Fujita K, Ohashi K, Fukatani K, Kamei S, Kagawa Y, Mori H (1998) Development of active rear steer system applying \({\rm H} \infty -\mu \) synthesis. SAE Trans 107:1694–1701
Bredthauer L, Lynch D (2018) Use of active rear steering to achieve desired vehicle transient lateral dynamics. Report 0148-7191, SAE Technical Paper
Rajesh R (2011) Vehicle dynamics and control. Springer, Berlin
Cheli F, Melzi S, Sabbioni E, Vignati M (2013) Torque vectoring control of a four independent wheel drive electric vehicle. In: ASME 2013 international design engineering technical conferences and computers and information in engineering conference. American society of mechanical engineers digital collection
De Novellis L, Sorniotti A, Gruber P (2014) Design and comparison of the handling performance of different electric vehicle layouts. Proc Inst Mech Eng, Part d: J Autom Eng 228(2):218–232
Jalali M, Khajepour A, Chen S, Litkouhi B (2016) Integrated stability and traction control for electric vehicles using model predictive control. Control Eng Pract 54:256–266
Liron WY, Allerhand I, Arogeti S (2018) Yaw stability control for a rear double-driven electric vehicle using lpv-h infinity methods. Sci China Inform Sci 61(7):70206
Asiabar AN, Kazemi R (2019) A direct yaw moment controller for a four in-wheel motor drive electric vehicle using adaptive sliding mode control. Proc Inst Mech Eng Pat K: J Multi-body Dyn 233(3):549–567
Shibahata Y, Shimada K, Tomari T (1993) Improvement of vehicle maneuverability by direct yaw moment control. Veh Syst Dyn 22(5–6):465–481
Inagaki S, Kushiro I, Yamamoto M (1995) Analysis on vehicle stability in critical cornering using phase-plane method. Jsae Rev 2(16):216
Koibuchi K, Yamamoto M, Fukada Yi Inagaki S (1996) Vehicle stability control in limit cornering by active brake. Report 0148-7191, SAE technical paper
Abe M, Kano Y, Shibahata Y, Furukawa Y (1999) Improvement of vehicle handling safety with vehicle side-slip control by direct yaw moment. Veh Syst Dyn 33(sup1):665–679
Youn W-Y, Song J-B (2000) Improvement of vehicle directional stability in cornering based on yaw moment control. KSME Int J 14(8):836–844
He J (2005) Integrated vehicle dynamics control using active steering, driveline and braking Ph. D thesis. The University of Leeds School of Mechanical Engineering
He J, Crolla DA, Levesley MC, Manning WJ (2006) Coordination of active steering, driveline, and braking for integrated vehicle dynamics control. Proc Inst Mech Eng Part D J Autom Eng 220(10):1401–1420
Yang X, Wang Z, Peng W (2009) Coordinated control of afs and dyc for vehicle handling and stability based on optimal guaranteed cost theory. Veh Syst Dyn 47(1):57–79
Mirzaeinejad H, Mirzaei M, Rafatnia S (2018) A novel technique for optimal integration of active steering and differential braking with estimation to improve vehicle directional stability. ISA Trans 80:513–527
Yang L, Yue M, Ma T (2019) Path following predictive control for autonomous vehicles subject to uncertain tire-ground adhesion and varied road curvature. Int J Control Autom Syst 17(1):193–202
Kasinathan D, Khajepour A, Chen S-K, Litkouhi B (2014) Constrained holistic cornering control. In: 2014 American control conference, pp 3899–3904. IEEE
Kasinathan D, Kasaiezadeh A, Wong A, Khajepour A, Chen S-K, Litkouhi B (2015) An optimal torque vectoring control for vehicle applications via real-time constraints. IEEE Trans Veh Technol 65(6):4368–4378
Raharijaona MT, Duc MG, Mammar MS (2004) Linear parameter-varying control and h-infinity synthesis dedicated to lateral driving assistance. In: IEEE intelligent vehicles symposium, 2004, pp 407–412. IEEE
Wang Z, Montanaro U, Fallah S, Sorniotti A, Lenzo B (2018) A gain scheduled robust linear quadratic regulator for vehicle direct yaw moment control. Mechatronics 51:31–45
Metzler M, Tavernini D, Sorniotti A, Gruber P, (2018) An explicit nonlinear mpc approach to vehicle stability control. In: Proceedings of The 14th international symposium on advanced vehicle control. Tsinghua University
Tahami F, Kazemi R, Farhanghi S, Samadi B (2002) Fuzzy based stability enhancement system for a four-motor-wheel electric vehicle. SAE Trans 111:1825–1833
Tahami F, Farhanghi S, Kazemi R (2003) Stability assist system for a two-motor-drive electric vehicle using fuzzy logic. SAE Trans 112:1335–1342
Tahami F, Kazemi R, Farhanghi S (2003) Direct yaw control of an all-wheel-drive ev based on fuzzy logic and neural networks. In: SAE Technical Paper, 2003-01-0956. https://doi.org/10.4271/2003-01-0956
Tahami F, Farhangi S, Kazemi R (2004) A fuzzy logic direct yaw-moment control system for all-wheel-drive electric vehicles. Veh Syst Dyn 41(3):203–221
Amro E, Hossam R, Shawky H et al (2017) Design of an integrated yaw-roll moment and active front steering controller using fuzzy logic control. SAE Int J Veh Dyn Stab NVH 1:270–282
Haiying M, Chaopeng L et al (2017) Direct yaw-moment control based on fuzzy logic of four wheel drive vehicle under the cross wind. Energy Proc 105:2310–2316
Niasar A, Moghbeli H, Kazemi R (2003) Yaw moment control via emotional adaptive neuro-fuzzy controller for independent rear wheel drives of an electric vehicle. In: Proceedings of 2003 IEEE Conference on Control Applications, 2003. CCA 2003., vol 1, pp 380–385. IEEE
Hou Y, Zhang J, Zhang Y, Chen L (2008) Integrated chassis control using anfis. In: 2008 IEEE International conference on automation and logistics, pp 1625–1630. IEEE
Cao W, Liu Z, Chang Y, Szumanowski A (2017) Direct yaw-moment control of all-wheel-independent-drive electric vehicles with network-induced delays through parameter-dependent fuzzy smc approach. Math Probl Eng 2017:5170492. https://doi.org/10.1155/2017/5170492
Zhang H, Liang J, Jiang H, Cai Y, Xing X (2019) Stability research of distributed drive electric vehicle by adaptive direct yaw moment control. IEEE Access 7:106225–106237
Guo L, Ge P, Sun D (2019) Fuzzy-sliding mode control based yaw stability control algorithm for four-in-wheel-motor drive electric vehicle. In: 2019 3rd Conference on vehicle control and intelligence (CVCI), pp 1–6. IEEE
Hamzah N, Sam Y, Selamat H, Aripin M (2013) Ga-based sliding mode controller for yaw stability improvement. In: 2013 9th Asian control conference (ASCC), pp 1–6. IEEE
Jin X, Zitian Y, Yin G, Wang J (2017) Improving vehicle handling stability based on combined afs and dyc system via robust takagi-sugeno fuzzy control. IEEE Trans Intell Transp Syst 19(8):2696–2707
Mirzaei M, Mirzaeinejad H (2017) Fuzzy scheduled optimal control of integrated vehicle braking and steering systems. IEEE/ASME Trans Mechatron 22(5):2369–2379
Song J (2018) Integrated vehicle dynamic controls using active rear wheel steering and four wheel braking. Int J Veh Syst Model Test 13(1):26–43
Rahimi S, Naraghi M (2018) Design of an integrated control system to enhance vehicle roll and lateral dynamics. Trans Inst Meas Control 40(5):1435–1446
Chokor A, Talj R, Doumiati M, Charara A (2019) A global chassis control system involving active suspensions, direct yaw control and active front steering. IFAC-Pap Online 52(5):444–451
Kim W, Yi K, Lee J (2011) Drive control algorithm for an independent 8 in-wheel motor drive vehicle. J Mech Sci Technol 25(6):1573
Kim W, Yi K, Lee J (2012) An optimal traction, braking, and steering coordination strategy for stability and manoeuvrability of a six-wheel drive and six-wheel steer vehicle. Proc Inst Mech Eng Part D J Autom Eng 226(1):3–22
Ragheb H (2014) Torque control strategy for off-road vehicle mobility. Thesis. University of Ontario Institute of Technology
Ragheb H, El-Gindy M, Kishawy H (2014) Torque distribution control for multi-wheeled combat vehicle. In: Volume 3: 16th International Conference on Advanced Vehicle Technologies; 11th International Conference on Design Education; 7th Frontiers in Biomedical Devices. International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. https://doi.org/10.1115/DETC2014-34034
D’Urso P (2016) Development of H infinty control strategy for a multi-wheeled combat vehicle. Thesis. University of Ontario Institute of Technology
Hillegass M, Faller J, Bounds M, El-Gindy M, Joshi A (2004) Validating the directional performance of multi-wheeled combat vehicle computer simulation models. In: ASME 2004 International mechanical engineering congress and exposition, pp 781–789. American society of mechanical engineers digital collection
Hillegass M, Faller J, Bounds M, El-Gindy M, Chae S (2005) Validating the vertical dynamic performance of a multi-wheeled combat vehicle computer simulation model. In: ASME 2005 international mechanical engineering congress and exposition, pp 31–40. American society of mechanical engineers digital collection
Odrigo A (2017) Development of multi-wheel drivetrain control system for future electric combat vehicle. University of Ontario Institute of Technology. http://hdl.handle.net/10155/766
Russell B (2018) Development and analysis of active rear axle steering for 8 \(\times \) 8 combat vehicle. Master’s thesis. University of Ontario Institute of Technology
Mohamed A (2018) Design and Development of Advanced Control Techniques for an Unmanned Ground Vehicle. Thesis
Chen BC, Yu CC, Hsu WF (2007) Steering control of six-wheeled vehicles using linear quadratic regulator techniques. Proc Inst Mech Eng Part D J Autom Eng 221(10):1231–1240
Wang L, Zhao X, Hao S, Tang G (2016) Lane changing trajectory planning and tracking control for intelligent vehicle on curved road. Springer Plus 5(1):1150
Jing H, Wang R, Wang J, Chen N (2018) Robust h infinity dynamic output-feedback control for four-wheel independently actuated electric ground vehicles through integrated afs/dyc. J Franklin Inst 355(18):9321–9350
Jean-JacquesE S, Weiping L (1991) Applied nonlinear control. Prentice hall Englewood Cliffs, New Jersey
Fullér R (2000) Introduction to neuro-fuzzy systems. Springer, Berlin
Karray F, Karray F, De Silva C (2004) Soft computing and intelligent systems design: theory, tools, and applications. Pearson Education
Sandhu G, Rattan K (1997) Design of a neuro-fuzzy controller. In: 1997 IEEE international conference on systems, man, and cybernetics. Computational cybernetics and simulation, vol 4, pp 3170–3175. IEEE
Wolkenhauer O, Edmunds JM (1996) A fuzzy systems toolbox for use with MATLAB. In: IEE Colloquium on Fuzzy Logic Controllers in Practice, London, UK, pp 9/1–9/4. https://doi.org/10.1049/ic:19961132
Talbi E-G (2009) Metaheuristics: from design to implementation, vol 72. Wiley, New Jersey. https://doi.org/10.1002/9780470496916
Zilouchian A, Mohammad J (2000) Intelligent control systems using soft computing methodologies, 1st edn. CRC Press, Inc., USA
Wong JY (2008) Theory of ground vehicles. Wiley, New Jersey
LotfiA Z (1973) Outline of a new approach to the analysis of complex systems and decision processes. IEEE Trans Syst Man Cybern 1:28–44
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Ahmed, M., El-Gindy, M. & Lang, H. A novel genetic-programming based differential braking controller for an \(8 \times 8\) combat vehicle. Int. J. Dynam. Control 8, 1102–1116 (2020). https://doi.org/10.1007/s40435-020-00693-0
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s40435-020-00693-0