The fuzzy robust cooperative control of the vehicle steering/anti-lock brake system

A new cooperative error was defined firstly and a new cooperative model of the vehicle was developed for the vehicle's steering antilock braking stability fields. A new two-level fuzzy robust cooperative control system was proposed. The architecture was composed with the execution layer and the cooperation layer. The uncertain parameters deteriorate the performance of the systems, so the yaw moment and the front wheel angle robust controllers in the execution layer based on the desired control index were designed to improve the respond, robustness and stability of the vehicle. The vehicle anti-lock brake robust controller was designed. In the cooperation layer, a new practical cooperative control law based on the optimal index and robustness was devised. In order to eliminate the conservation of the controllers, the fuzzy control method was introduced. Then the brake force distribution policy applicable to the complex work condition was presented .