Integrated chassis control using ANFIS

A nonlinear control system that integrated active front steering system and vehicle dynamics control system based on a multi-body vehicle dynamic model is introduced in this paper. The multibody vehicle dynamic model based on ADAMS can accurately predict the dynamics performance of the vehicle. The control strategy consists of two control objectives (yaw velocity omega and sideslip angle beta). An integrated controller is built according to the lateral acceleration to distribute the desired yaw moment to VDC and AFS. The VDC and AFS controllers are established using ANFIS (Adaptive-network-based fuzzy inference system) and Fractional-order PI lambda D mu control algorithm, respectively. The adaptive fuzzy controller can adjust the fuzzy control rules and membership functions through by training of ANFIS, and the parameters of fractional-order PI lambda D mu are tuned using genetic algorithm (GA) optimization method. The co-simulation scenario takes place on an icy road at high speed with a step steer input. The simulation results show that integrated chassis control system can enhance vehicle handling stability and safety greatly.