Hairi Zamzuri

Improving Vehicle Ride and Handling Using LQG CNF Fusion Control Strategy for an Active Antiroll Bar System

This paper analyses a comparison of performance for an active antiroll bar (ARB) system using two types of control strategy. First of all, the LQG control strategy is investigated and then a novel LQG CNF fusion control method is developed to improve the performances on vehicle ride and handling for an active antiroll bar system. However, the ARB system has to balance the trade-off between ride and handling performance, where the CNF consists of a linear feedback law and a nonlinear feedback law. Typically, the linear feedback is designed to yield a quick response at the initial stage, while the nonlinear feedback law is used to smooth out overshoots in the system output when it approaches the target reference. The half car model is combined with a linear single track model with roll dynamics which are used for the analysis and simulation of ride and handling. The performances of the control strategies are compared and the simulation results show the LQG CNF fusion improves the performances in vehicle ride and handling.

Adaptive modified Stanley controller with fuzzy supervisory system for trajectory tracking of an autonomous armoured vehicle

Abstract In developing path tracking controller for autonomous vehicles, a properly tuned controller will work well for a certain range of driving conditions but may need to be re-tuned for others. This study presents the development of an adaptive controller with fuzzy supervisory system for trajectory tracking control of an autonomous armoured vehicle. A knowledge database is built using Particle Swarm Optimisation which is the mainframe of the Fuzzy supervisory system in adapting to various trajectories and speed. The proposed controller is simulated on a nonlinear vehicle model, and experimental results for the controller are presented to evaluate the proposed controller.

Longitudinal slip control using Magnetorheological brake via Second Order Sliding Mode Controller

This paper presents an application of Second Order Sliding Mode Controller (SOSMC) to regulate the vehicle longitudinal slip using Magnetorheological Fluid (MRF) brake as an actuator for the vehicle braking system. A quarter vehicle with a simple Bingham model is adopted as the control plant and the MRF brake system model respectively. Numerical assessments are conducted for various types of the road surface with the main objective to regulate the longitudinal slip at its optimum friction value. Since the control system is regarded as a highly nonlinear environment, the utilization of SOSMC is considered as decent control solution to cope with the system uncertainties and at the same time reduced the system chattering effect caused by conventional sliding mode control. Results show that the targeted optimum slip reference can be achieved with a smooth input signal compared to conventional SMC.