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
Abstract
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 brakingDownloads
References
Y. He and J. Ren, "A Comparative Study of Car-Trailer Dynamics Models," SAE International Journal of Passenger Cars - Mechanical Systems, vol. 6, no. 1, pp. 177–186, Apr. 2013.
A. Hac, D. Fulk, and H. Chen, "Stability and Control Considerations of Vehicle-Trailer Combination," SAE International Journal of Passenger Cars - Mechanical Systems, vol. 1, no. 1, pp. 925–937, Apr. 2008.
A. Dellavedova, "Car and caravan dynamic stability under crosswind," MSc Thesis, Politecnico di Milano, Milan, Italy, Apr. 2021.
T. Sun, "Design synthesis of car-trailer systems with active trailer differential braking strategies.," MSc Thesis, University of Ontario Institute of Technology, Oshawa, Canada, 2013.
Y. He, H. Elmaraghy, and W. Elmaraghy, "A Design Analysis Approach for Improving the Stability of Dynamic Systems with Application to the Design of Car-Trailer Systems," Journal of Vibration and Control, vol. 11, no. 12, pp. 1487–1509, Dec. 2005.
R. Shamim, M. M. Islam, and Y. He, "A Comparative Study of Active Control Strategies for Improving Lateral Stability of Car-Trailer Systems," SAE International, Warrendale, PA, SAE Technical Paper 2011-01–0959, Apr. 2011.
M. Abroshan, R. Hajiloo, E. Hashemi, and A. Khajepour, "Model predictive-based tractor-trailer stabilisation using differential braking with experimental verification," Vehicle System Dynamics, vol. 59, no. 8, pp. 1190–1213, Aug. 2021.
D. Kasinathan, A. Kasaiezadeh, A. Wong, A. Khajepour, S.-K. Chen, and B. Litkouhi, "An Optimal Torque Vectoring Control for Vehicle Applications via Real-Time Constraints," IEEE Transactions on Vehicular Technology, vol. 65, no. 6, pp. 4368–4378, Jun. 2016.
M. Mirzaei and H. Mirzaeinejad, "Fuzzy Scheduled Optimal Control of Integrated Vehicle Braking and Steering Systems," IEEE/ASME Transactions on Mechatronics, vol. 22, no. 5, pp. 2369–2379, Jul. 2017.
T. Sun, Y. He, E. Esmailzadeh, and J. Ren, "Lateral Stability Improvement of Car-Trailer Systems Using Active Trailer Braking Control," Journal of Mechanics Engineering and Automation, vol. 2, pp. 555–562, 2012.
E. Lee, S. Kapoor, T. Sikder, and Y. He, "An optimal robust controller for active trailer differential braking systems of car-trailer combinations," International Journal of Vehicle Systems Modelling and Testing, vol. 12, no. 1–2, pp. 72–93, Jan. 2017.
Y. Zhang, A. Khajepour, E. Hashemi, Y. Qin, and Y. Huang, "Reconfigurable Model Predictive Control for Articulated Vehicle Stability With Experimental Validation," IEEE Transactions on Transportation Electrification, vol. 6, no. 1, pp. 308–317, Mar. 2020.
Z. Zhao, N. Zhang, J. Wu, and G. Yin, "Model Predictive Control of Car-trailer combinations based on Differential Braking," in 2021 IEEE 5th Advanced Information Technology, Electronic and Automation Control Conference (IAEAC), Chongqing, China, Mar. 2021, vol. 5, pp. 2419–2424.
E. Lee, "Design optimization of active trailer differential braking systems for car-trailer combinations," MSc Thesis, University of Ontario Institute of Technology, Oshawa, Canada, 2016.
B. L. Boada, M. J. L. Boada, and V. Díaz, "Fuzzy-logic applied to yaw moment control for vehicle stability," Vehicle System Dynamics, vol. 43, no. 10, pp. 753–770, Oct. 2005.
F. L. Silva, L. C. A. Silva, J. J. Eckert, and M. A. M. Lourenço, "Robust fuzzy stability control optimization by multi-objective for modular vehicle," Mechanism and Machine Theory, vol. 167, Jan. 2022, Art. no. 104554.
M. Bauer and M. Tomizuka, "Fuzzy Logic Traction Controllers and their Effect on Longitudinal Vehicle Platoon Systems," Vehicle System Dynamics, vol. 25, no. 4, pp. 277–303, Apr. 1996.
X. Yang, J. Song, and J. Gao, "Fuzzy Logic Based Control of the Lateral Stability of Tractor Semitrailer Vehicle," Mathematical Problems in Engineering, vol. 2015, Nov. 2015, Art. no. e692912.
E. Kayacan, E. Kayacan, H. Ramon, O. Kaynak, and W. Saeys, "Towards Agrobots: Trajectory Control of an Autonomous Tractor Using Type-2 Fuzzy Logic Controllers," IEEE/ASME Transactions on Mechatronics, vol. 20, no. 1, pp. 287–298, Oct. 2015.
B. M. Mohan and A. Sinha, "The simplest fuzzy PID controllers: mathematical models and stability analysis," Soft Computing, vol. 10, no. 10, pp. 961–975, Aug. 2006.
T. T. K. Ly, N. T. Thanh, H. Thien, and T. Nguyen, "A Neural Network Controller Design for the Mecanum Wheel Mobile Robot," Engineering, Technology & Applied Science Research, vol. 13, no. 2, pp. 10541–10547, Apr. 2023.
R. Abdulkader, "Controller Design based on Fractional Calculus for AUV Yaw Control," Engineering, Technology & Applied Science Research, vol. 13, no. 2, pp. 10432–10438, Apr. 2023.
A. Taskin and T. Kumbasar, "An Open Source Matlab/Simulink Toolbox for Interval Type-2 Fuzzy Logic Systems," in 2015 IEEE Symposium Series on Computational Intelligence, Cape Town, South Africa, Sep. 2015, pp. 1561–1568.
O. Kahouli, B. Ashammari, K. Sebaa, M. Djebali, and H. H. Abdallah, "Type-2 Fuzzy Logic Controller Based PSS for Large Scale Power Systems Stability," Engineering, Technology & Applied Science Research, vol. 8, no. 5, pp. 3380–3386, Oct. 2018.
Downloads
How to Cite
License
Copyright (c) 2023 Ali Tahir Karasahin, Mehmet Karali
This work is licensed under a Creative Commons Attribution 4.0 International License.
Authors who publish with this journal agree to the following terms:
- Authors retain the copyright and grant the journal the right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) after its publication in ETASR with an acknowledgement of its initial publication in this journal.
