Robust multiple-adaptive fuzzy control with switching for highway vehicles

A novel control approach using multiple-adaptive fuzzy systems with switching for solving integrated lateral and longitudinal control of highway vehicle systems for improved transient response, is presented in this paper. The most suitable adaptive controller of the multiple-adaptive fuzzy system is switched depending on the suitable operating conditions. The development of a single-adaptive fuzzy controller is also presented for comparison studies. These fuzzy setups are used separately for robust compensation for un-modeled dynamics, nonlinearity issues, external disturbances and model uncertainties ensuring globally asymptotically stable systems. A Lyapunov-based Kalman-Yakubovich-Popov (KYP) lemma is used to ensure closed loop robust stability of the control systems. A simulation study using an industry-standard veDYNA® vehicle model, is carried out to validate the developed controllers using a number of scenarios including external disturbances and subsystem failure cases.