Robust and fuzzy control of high mobility off-road tracked vehicle with trailing arm suspension unit

This paper develops a ride dynamics model and presents a method to apply a linear robust control and fuzzy logic control to a high mobility off-road tracked vehicle. To avoid the complexity of modeling track system, it is classified as unknown dynamics and disturbances. Firstly, a nonlinear off-road tracked vehicle model-including bump stop and shock absorber nonlinearities is developed. Subsequently, a new robust fuzzy logic control strategy is developed and applied to tracked vehicle. In the process of designing robust controller, a linearized model is used with uncertainties and disturbances. The errors between linearized model and actual nonlinear tracked vehicle model are compensated by fuzzy logic controller. Finally, control performances to isolate vibration from bump are evaluated through computer simulation under Matlab and ADAMS environments.