Design and Comparison of AFS Controllers with PID, Fuzzy-Logic, and Sliding-Mode Controllers

Abstract

Three active front-steering (AFS) controllers were developed to enhance the lateral stability of a vehicle. They were designed using proportional-integral-derivative (PID), fuzzy-logic, and sliding-mode control methods. The controllers were compared under several driving and road conditions with and without the application of braking force. A 14-degree-of-freedom vehicle model, a sliding-mode antilock brake system (ABS) controller, and a driver model were also employed to test the controllers. The results show that the three AFS controllers allowed the yaw rate to follow the reference yaw rate very well, and consequently the lateral stability improved. On a split-μ road, the controllers forced the vehicle to proceed straight ahead. The results also verify that the driver model can sufficiently control the vehicle to allow it to follow a desired path.