Electric Vehicle Steering System Fuzzy Modeling and Controller Design

Electric vehicle (EV) steering control becomes much more important in many senses such as driving comfort and safety. Unlike the traditional internal combustion engine powered vehicles that possess only one control input related to the steering wheel, the so-called direct yaw moment control is yet another control input in EVs thanks to the dispersedly located in-wheel motors. In view of controller design crucially depending on a proper mathematical model, this paper first focuses on the modeling of EV steering system with uncertainty in the system considered for the latter robust controller design. Then a Takagi-Sugeno (T-S) fuzzy model is obtained based on the EV's model, which is capable of varying vehicle velocity in a range. Finally, a robust controller with inputs constraint is designed based on the model, and the effectiveness is verified by computer simulations. © 2024 Institute of Electrical Engineers of Japan and Wiley Periodicals LLC.