Comparison of two controllers for directional control of a hybrid electric vehicle

Open access

Comparison of two controllers for directional control of a hybrid electric vehicle

Directional response of a vehicle implies changing its direction when sustaining lateral acceleration while moving on the road. From this response, the vehicle's explicit capabilities as well as its contribution to the system performance of the driver/vehicle combination are obtained. In vehicle control literature, handling is often used interchangeably with cornering, turning, or directional response. This paper focuses one aspect of the handling i.e. directional response. Two different controllers, namely a PID controller and a Fuzzy Logic Controller (FLC) for a hybrid electric vehicle (HEV) are designed in this paper to control the vehicle's steering in a smooth lane change maneuver. The performances of the aforesaid two controllers have been studied extensively in this paper. For achieving an improved path tracking and directional response, parameters of both the PID and FLC have been tuned and their performances have been compared. Further, the effect of changing the scale factors in the fuzzy logic approach to obtaining directional response is presented. To validate the above two control performances, a nonlinear simulation model of a HEV is developed and is used in simulation studies. Both the controllers track the desired directional signal efficiently. Both PID and Fuzzy controllers provide competitive performances. Although with the assumption of all parameters of the vehicle available PID controller exhibits slightly better dynamic performance but in the real-world scenario the fuzzy controller is preferred due to its robustness i.e. it does not depend on the parameters of the vehicle.

  • R. Seaks, C. J. Cox, J. Neidhoefer, P. R. Mays and J. J. Murray: Adaptive Control of a Hybrid Electric Vehicle. IEEE Trans. Intelligent Transportations, 3(4) (2002), 213-234.

  • J. Ackermann: Robust decoupling, ideal steering dynamics and yaw stabilization of 4WS cars. Automatica, 60 (1994), 1761-1768.

  • J. Ackermann and W. Sienel: Roubst yaw damping of cars with front and rear wheel steering. IEEE Trans. Control System Technology, CST-1 (1993), 15-20.

  • T. D. Gillespie: Fundamental of Vehicle Dynamics. SAE, 1992.

  • S. H. Zak: Systems and Control. Oxford University Press, 2003.

  • J. Ackermann: Robust car steering by yaw rate control. Proc. of the 29th IEEE Conf. on Decision and Control, Honolulu, Hawai, (1990), 2033-2034.

  • E. Ono, S. Hosoe, H. D. Tuan and S. Doi: Robust stabilization of vehicle dynamics by active front wheel steering. Proc. of the 35th IEEE Conf. on Decision and Control, Kobe, Japan, (1996), 1777-1722.

  • E. Ono, S. Hosoe, H. D. Tuan and S. Doi: Bifurcation in vehicle dynamics and robust front wheel steering control. IEEE Trans. on Control Systems Technology, 6(3), (1998), 412-420.

  • J. Y. Wong: Theory of Ground Vehicles. John Wiley & Sons, INC, New York, 2008.

  • B. Subudhi and A. S. Morris: Fuzzy and neuro-fuzzy approaches to control a flexible single-link manipulator. Proc. IM Es, Part I: J. Systems and Control Engineering, 217 (2003), 387-399.

  • B. Hu, G. K. I. Mann and R. G. Gosine: New methodology for analytical and optimal design of fuzzy PID controllers. IEEE Trans. on Fuzzy Systems, 7(5), (1993).

  • B. Subudhi and A. K. Swain: Genetic algorithm based fuzzy logic controller for real time liquid level control. IE(I) Journal-EL, (1996), 96-100.

  • K. R. S. Kodagoda, W. S. Wijesoma and E. K. Teoh: Fuzzy speed and steering control of an AGV. IEEE Trans. on Control Systems Technology, 10(1), (2002), 112-120.

  • B. Subudhi and S. S. Ge: Sliding mode observer based adaptive slip ratio control for electric and hybrid vehicles. IEEE Trans. Intelligent Transportations, in press.

  • P. Kachroo and M. Tomizuk: Integral action for chattering reduction and error convergence in sliding mode control. American Control Conference, Chicago, USA, (1992), 867-870.

  • E. Ono, K. Takanami, N. Iwama, Y. Hayashi, Y. Hirano and Y. Satoh: Vehicle integrated control for steering and traction systems by μ-synthesis. Automatica, 30(11), (1994), 1639-1647.

  • A. E. Cetin, M. A. Adli, D. E. Barkana and H. Kucuk: Implementation and development of an adaptive steering-control system. IEEE Trans. on Vehicular Technology, 59(1), (2010), 75-83.

  • T. L. Lam, H. Qian and Y. Xu: Omnidirectional steering interface and control for a four-wheel independent steering vehicle. IEEE/ASME Trans. on Mechatronics, 15(3), (2010), 329-338.

Archives of Control Sciences

The Journal of Polish Academy of Sciences

Journal Information

IMPACT FACTOR 2016: 0.705

CiteScore 2016: 3.11

SCImago Journal Rank (SJR) 2016: 0.231
Source Normalized Impact per Paper (SNIP) 2016: 0.565


All Time Past Year Past 30 Days
Abstract Views 0 0 0
Full Text Views 24 24 17
PDF Downloads 10 10 7