Fuzzy state and output feedback - control for vehicle lateral dynamics

Naoufal El Youssfi*1, Rachid El Bachtiri1, Redouane Chaibi2

Fuzzy state and output feedback - control for vehicle lateral dynamics
O PE N ACCE SS International Meeting on Advanced Technologies in Energy
1
Naoufal PERE-EST,
El Youssfi *1CED-STI, USMBA Fez, MoroccoChaibi2
, Rachid El Bachtiri1, Redouane
and Electrical Engineering
2
LESSI-FSDM, CED-STIC, USMBA Fez, Morocco
1 Email: naoufal.elyoussfi@usmba.ac.ma
PERE-EST, CED-STI, USMBA Fez, Morocco
Fuzzy state and output feedback -
2
LESSI-FSDM, CED-STIC, USMBA Fez, Morocco
Email: naoufal.elyoussfi@usmba.ac.ma
Abstract

control for vehicle

Research related to the active control systems
lateral dynamics
which improve the stability and the performance
Abstract
of vehicles in critical driving situations has experienced tremendous progress during the last
Naoufal
years.
Research El of
Some Youssfi
relatedthe *1
, Rachid
tosystems have
the active El Bachtiri
already
control
1
, Redouane
been installed
systems which Chaibi
in passenger
improve
2
cars (ABS,
the stability ESP,
and the ACC …).
performance
However,
of vehiclesthese systems
in critical can besituations
driving further improved using advanced
has experienced estimation
tremendous and during
progress controlthedesign
last
methods [1]. The main goal is still to produce comfortable and safe vehicles.
years. Some of the systems have already been installed in passenger cars (ABS, ESP, ACC …). In this work, we
Abstract
PERE-EST, CED-STI, USMBA Fez, Morocco
1
study a quadratic
However,relatedthese systemsstabilization
can be conditions
further for
improved Takagi–Sugeno
using advanced (TS) fuzzy
estimation control systems,
2
LESSI-FSDM, CED-STIC, USMBA Fez, Research to the active control systems which improve the stability and and control design
the performance of
applied to
methodsin[1]. the vehicle
Thedrivinglateral dynamics.
main situations
goal is still Stability
toexperienced conditions
produce comfortable are represented in the form of LMIs.
Morocco
Email: naoufal.elyoussfi@usmba.ac.ma
vehicles critical has tremendousand safe vehicles.
progress during theInlast
thisyears.
work, we
Some
Hence,
of awe
the systems
study will compare
have
quadratic already two
beentypes
stabilization of control,
installed forto Takagi–Sugeno
in passenger
conditions stabilize the dynamics
cars (ABS, ESP, (TS) ofHowever,
the vehicle.
ACC …).fuzzy The first
thesesystems,
control systems
one be
can
appliedis the
to control
further based
the improved
vehicle on the
using
lateral output feedback,
advanced
dynamics. estimation and
and the second
control
Stability conditions onemethods
design
are is the control
represented in[1].
theThe based
form of on
main goalthe
LMIs. is
still to produce
reconstructed comfortable
state and
feedback. safe vehicles. In this work, we study a quadratic stabilization
Hence, we will compare two types of control, to stabilize the dynamics of the vehicle. The first conditions
for
The Takagi–Sugeno (TS) fuzzy control systems,
by aapplied to the vehicle lateral dynamics. Stability
one ismovement
the controlofbasedthe vehicle is defined
on the output feedback, set
andofthetranslations
second oneand rotational
is the movements,
control based on the
conditions are represented in the form of LMIs. Hence, we will compare two types of control, to stabilize
generally comprised
reconstructed state of six main movements; but in this study, we will focus on the vehicle
feedback.
the dynamics of the vehicle. The first one is the control based on the output feedback, and the second
lateral
one dynamics
Theismovement
the control of 2DOF,
the on
based which
vehicle can be described
is defined
the reconstructed by the
by a feedback.
state set following equations:
of translations and rotational movements,
The movement
generally comprised of the
ofvehicle
six main is defined by a set but
movements; of translations and rotational
in this study, movements,
we will focus on thegenerally
vehicle
comprised
𝑚𝑚𝑣𝑣̇
lateral = of
𝑚𝑚y six
̇
dynamics 𝑣𝑣 main
+ movements;
2)𝐹𝐹
% 2DOF, +
%+ which𝐹𝐹 - but in this study, we will focus on the
%, can be described by the following equations: vehicle lateral dynamics 2DOF,
! % can
which be, 𝐹𝐹described by the following equations: (1)
𝐼𝐼/ ẏ = 2𝑎𝑎 %, − 2𝑎𝑎 𝐹𝐹
+ %+
𝑚𝑚𝑣𝑣̇ = 𝑚𝑚ẏ 𝑣𝑣 + 2)𝐹𝐹%+ + 𝐹𝐹%, -
! %difficulty%of obtaining
The a correct vehicle model is that the contact forces are difficult (1) to
𝐼𝐼/ ẏ = 2𝑎𝑎, 𝐹𝐹%, − 2𝑎𝑎+ 𝐹𝐹%+
measure and to model, using the method based on TS models proposed in [2], which are a very
The difficulty of obtaining a correct vehicle model is that the contact forces are difficult to measure
interesting
The
and to mathematical
difficulty
model, of obtaining
using representation
the method a correct onofTSnonlinear
based vehicle models systems,
modelproposed
is that thebecause
in contact
[2], they
which allow
forces
are a arerepresenting
very difficult to
interesting
any nonlinear
mathematical
measure and tosystem,
model,by
representationa simple
using ofthe structure
nonlinear
method based
systems,
based on linear
onbecause
TS models.
they
models allow representing
proposed in [2], which anyarenonlinear
a very
system,
interestingby amathematical
simple structure
The characteristics based
tires areongenerally
of therepresentation linear
ofmodels.
assumedsystems,
nonlinear that the because
rear andtheyfrontallow
lateral forces are
representing
The characteristics
modeled with the of the
magic formulatires asaregiven
generally
in assumed
[3]. The that the
overall rear are
forces andobtained
front lateral
by: forces are
any nonlinear system, by a simple structure based on linear models.
modeled with the magic formula as given in [3]. The overall forces are obtained by:
The characteristics of the tires are generally assumed that the rear and front lateral forces are
7
𝐹𝐹%+ = ∑with
modeled 89: 𝜇𝜇)5𝛼𝛼 + 5- 𝐶𝐶+8 𝛼𝛼
the magic + (𝑡𝑡)
formula as given in [3]. The overall forces are obtained by:
! 7
(2)
𝐹𝐹%, = ∑89: 𝜇𝜇)5𝛼𝛼+ 5- 𝐶𝐶,8 𝛼𝛼, (𝑡𝑡)
𝐹𝐹%+ = ∑789: 𝜇𝜇)5𝛼𝛼+ 5- 𝐶𝐶+8 𝛼𝛼+ (𝑡𝑡)
! where C7 fi, Cri are the front and rear tire cornering stiffness, respectively, which depend on the (2)road
𝐹𝐹%, =C
where
friction Cri𝜇𝜇)5𝛼𝛼
∑fi,89:
coefficient areand
the 𝐶𝐶front
+ 5- the
and rear tire cornering stiffness, respectively, which depend on the
vehicle
,8 𝛼𝛼 , (𝑡𝑡) parameters.

http://doi.org/10.5339/
roadUsing (2) tocoefficient
friction approximate andthe thelateral cornering
vehicle forces, the T-S model can be written in the following
parameters.
qproc.2019.imat3e2018.26 form:
Using C
where fi, C
(2) are the front the
tori approximate and lateral
rear tirecornering
corneringforces,
stiffness,
the respectively,
T-S model canwhich
be depend
written on
in the
7 [ ( ) ]
© 2019 The Author(s), licensee road
𝑥𝑥̇ friction
(t) = ∑
following form: 89:coefficient
𝜇𝜇)5𝛼𝛼+ 5- 𝐴𝐴and
8 𝑥𝑥 𝑡𝑡the+ vehicle
𝐵𝐵8 𝑢𝑢(𝑡𝑡) parameters.
HBKU Press. This is an open ! 7
(3)
access article distributed under 𝑦𝑦(t) =
Using (2) 89:∑ 𝜇𝜇)5𝛼𝛼 5-
to approximate
+ [ 𝐶𝐶 𝑥𝑥 ( 𝑡𝑡 )
8 the lateral+ 𝐷𝐷 8 𝑢𝑢(𝑡𝑡) ]
cornering forces, the T-S model can be written in the
the terms of the Creative Commons
Attribution license CC BY 4.0, following form: in this study, two types of stabilization conditions for vehicle lateral dynamics are
As a conclusion,
which permits unrestricted use, presented. The firstinisthis
As a conclusion, study,state
for fuzzy two feedback
types of stabilization conditions
stabilization problem andfor thevehicle
secondlateral dynamics
is for fuzzy static
distribution and reproduction in
any medium, provided the original output
are presented. The first is for fuzzy state feedback stabilization problem and the secondinisreal-
feedback stabilization problem. The first control law gives results more relaxed. However, for
work is properly cited. world
fuzzycontrol
static problems, the states
output feedback may not be problem.
stabilization completelyTheaccessible. In suchlaw
first control situations, one needs
gives results moreto
resort to output feedback design methods. Fuzzy static output feedback control is the most desirable
relaxed. However, in real-world control problems, the states may not be completely accessible.
since it can be implemented easily with low cost. Nevertheless, the fuzzy static output feedback
In such situations,
stabilization problemone needs
of TS fuzzyto resort istorarely
systems output feedback because
investigated design methods.
it is quite Fuzzy static output
hard theoretically for
feedback control is the most desirable since
TS fuzzy systems but useful and very important in practice. it can be implemented easily with low cost.
Nevertheless, the fuzzy static output feedback stabilization problem of TS fuzzy systems is
Cite this
rarely article as because
investigated El Youssfi,
it isElquite
Bachtiri,
hardChaibi, Fuzzy state
theoretically andfuzzy
for TS outputsystems
feedbackbut- control
useful for
and
vehicle lateral dynamics, International Meeting on Advanced Technologies in Energy and Electrical
very important in practice.
Engineering 2018, http://doi.org/10.5339/qproc.2019.imat3e2018.26

1.5
T-S Fuzzy Static Output-Control 0.6
1 T-S Fuzzy state- Control
Without Control
0.5 0.4
are presented. The first is for fuzzy state feedback stabilization problem and the second is for
fuzzy static output feedback stabilization problem. The first control law gives results more
relaxed. However, in real-world control problems, the states may not be completely accessible.
Page 2 of 2
In such situations, one needs to resort to output feedback designetmethods.
El Youssfi Fuzzy static output
al., qproc.2019.imat3e2018.26
feedback control is the most desirable since it can be implemented easily with low cost.
Nevertheless, the fuzzy static output feedback stabilization problem of TS fuzzy systems is
rarely investigated because it is quite hard theoretically for TS fuzzy systems but useful and
very important in practice.

1.5
T-S Fuzzy Static Output-Control 0.6
1 T-S Fuzzy state- Control
Without Control
0.5 0.4

0
0.2

-0.5
0
-1

-0.2
-1.5

-2 (a) -0.4

-2.5
-0.6
-3
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10

10 0.6
T-S Fuzzy state- Control
8 T-S Fuzzy Static Output-Control 0.4 State feedback control
Without Control Output-feedback control
6
0.2
4
0
2
-0.2
0
-0.4
-2
-0.6
-4

-6
(b) -0.8

-8 -1

-10 -1.2
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10

Figure
Figure 1.1.Comparison
Comparison between
between controlled controlled
system FigureFigure
2. (a)2. (a)Steering
Steering angleangle
given by given
the driver,by
(b) the
states (state & static output- feedback controls) and the Comparison between the response of the two types of
system states (state & static output-
uncontrolled driver,control
(b) Comparison between the
feedback controls) and the uncontrolled response of the two types of control
Keywords:
Fuzzy state; vehicle lateral dynamics; reconstructed state feedback; output feedback
Keywords: Fuzzy state; vehicle lateral dynamics; reconstructed state feedback; output
References
feedback
[1]
N. El Youssfi, M. Oudghiri, A. Aitouche & R. El Bachtiri, “Fuzzy Sliding-Mode Observer for Lateral Dynamics
of Vehicles with Consideration of Roll Motion”, In 26th Mediterranean Conference on Control and
References
Automation (MED), IEEE, pp. 861-866, 2018.
[1][2]
N. ElC.Youssfi, M.
Fang, Y. Liu, S. Oudghiri,
Kau, L. Hong,A. Aitouche
C. Lee, & R. El Bachtiri,
“A new LMI-based approach to“Fuzzy
relaxed Sliding-Mode Observer
quadratic stabilization of TS
fuzzy control systems”, IEEE Transactions on fuzzy systems, vol. 14, pp. 386-397, 2006.th
for Lateral Dynamics of Vehicles with Consideration of Roll Motion”, In 26 Mediterranean
[3] H. B. Pacejka, “Tyre and Vehicle Dynamics”, Oxford: Butterworth-Heinemann, 2006, p. 657.
Conference on Control and Automation (MED), IEEE, pp. 861-866, 2018.
[2]Acknowledgement
C. Fang, Y. Liu, S. Kau, L. Hong, C. Lee, “A new LMI-based approach to relaxed quadratic
stabilization of TSoffuzzy
The committee control systems”,
the International MeetingIEEE Transactions
on Advanced on fuzzyinsystems,
Technologies vol. Electrical
Energy and 14, pp.
386-397, 2006.would like to thank Hamad Bin Khalifa University Press for publishing and hosting the
Engineering
[3]accepted abstracts“Tyre
H. B. Pacejka, in QScience.com.
and Vehicle Dynamics”, Oxford: Butterworth-Heinemann, 2006, p.
657.