The connectionist compensator for advanced integrated vehicle controller

In this paper, a new concept of the advanced integrated vehicle controller with a 4-wheel control system (ADIVEC-4WCS), to provide an automatic system guidance, is presented. The supplementary neuro-compensator is proposed to ensure a control system robustness and better controller adaptability upon the system uncertainties and model inaccuracies. This neural compensator is a part of integrated active control algorithm based on the centralized dynamic control strategy and full vehicle model. The fast convergence of learning process is achieved using standard back propagation method. The validity and effectiveness of the proposed method based on adaptive capability of neural compensator for a four wheel steering system have been demonstrated by simulation experiments.