Abstract This paper proposes a robust lateral control system with fuzzy state observer based on Takagi-Sugeno fuzzy model of autonomous four-wheel independent drive electric vehicles (A-4WDEVs) considering the roll effects and actuator faults. Firstly, a Takagi-Sugeno fuzzy model of A-4WDEVs with uncertainties, time-varying parameters and actuator faults is presented, which can describes the coupling lateral and roll dynamic features of A-4WDEVs. Then, a robust H∞ state feedback lateral control system of A-4WDEVs is proposed to deal with the characteristics of uncertainties and external disturbance and produce the desired front wheel steering angle and external yaw moment of A-4WDEVs. Next, the control allocation law of additional longitudinal tire forces of A-4WDEVs is reviewed as a quadratic programming problem to achieve the desired external yaw moment. Furthermore, a Takagi-Sugeno fuzzy observer is designed to estimate the roll angle and roll angle rate of A-4WDEVs in real time. Finally, simulation and experimental results are provided to demonstrate the effectiveness of the proposed control scheme.

中文翻译：

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考虑侧倾效应和执行器故障的自主四轮独立驱动电动汽车的鲁棒横向控制

摘要 考虑到侧倾效应和执行器故障，本文基于自主四轮独立驱动电动汽车（A-4WDEV）的Takagi-Sugeno模糊模型，提出了一种具有模糊状态观测器的鲁棒横向控制系统。首先，提出了具有不确定性、时变参数和执行器故障的A-4WDEV的Takagi-Sugeno模糊模型，该模型可以描述A-4WDEV的耦合横向和侧倾动力学特征。然后，针对A-4WDEV的不确定性和外部干扰特性，提出了一种鲁棒的H∞状态反馈横向控制系统，以产生A-4WDEV所需的前轮转向角和外部横摆力矩。下一个，A-4WDEV 的附加纵向轮胎力的控制分配规律被视为二次规划问题，以实现所需的外部横摆力矩。此外，Takagi-Sugeno 模糊观测器旨在实时估计 A-4WDEV 的侧倾角和侧倾角率。最后，提供了仿真和实验结果来证明所提出的控制方案的有效性。