Performance Comparison of Different Fuzzy Logic Controllers on Vehicle-Caravan Systems
Received: 20 April 2023 | Revised: 3 June 2023 | Accepted: 10 June 2023 | Online: 24 June 2023
Corresponding author: Ali Tahir Karasahin
Active control techniques in Vehicle-Caravan (VC) systems are designed to prevent instability modes. This study used Fuzzy Logic Controllers (FLCs), developed using the differential braking method, to prevent instability modes in a VC system and increase yaw stability. Four different FLC-based controllers were designed for the VC system: type-1 Mamdani, type-1 Sugeno, simplified type-2, and Interval Type-2 (IT2). FLC-based controllers are used in VC systems due to nonlinear characteristics. This study showed that unstable situations can be prevented with FLCs according to the inputs obtained from a single IMU sensor placed in the caravan. The performance of the controllers developed in MATLAB/Simulink was assessed using CarSim. Experimental studies showed that the skidding that occurs after the Double Lane Change (DLC) maneuver is prevented by FLC-based controllers and the yaw stability is increased.
Keywords:fuzzy logic controller, type-2 fuzzy sets, vehicle-caravan, differential braking
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