Fuzzy logic force modelling

This paper presents a hybrid modelling (HM) approach, which uses a fuzzy logic (FL) wheel-force modelling of the non-trivial case of a non-holonomic 4×4 wheeled skid steer small-scale electric vehicle. An analytical vehicle-actuator explicit model was firstly derived by explicitly modelling the permanent magnet direct current machines which were connected via a reduction gearbox to each wheel. The conventional model resulted in the developed motor torques (forces), armature currents, and vehicle states. Initially the analytical model was simulated for a typical hard turn and then from the resulting simulated data a fuzzy logic force model was developed and compared.