This paper studied the modelling and control of four-wheel independently driven electric vehicles using differential speed steering. The Takagi–Sugeno fuzzy modelling approach represents the nonlinearities of the four-wheel independently driven electric vehicle state variables in several system models. The proposed controller design is a robust Takagi–Sugeno fuzzy output-feedback control based on a fuzzy Lyapunov function approach. More precisely, the Lyapunov function is chosen to be dependent on the membership functions. Sufficient conditions for the existence of the robust Takagi–Sugeno fuzzy controller are given in terms of linear matrix inequality constraints. The designed parameters are tested by simulating the four-wheel independently driven electric vehicles under varying operating conditions. The simulation results underscore the robustness and disturbance rejection importance of the proposed controller, which is then contrasted to better highlight the improved performance of the proposed approach over a fixed robust controller design.

中文翻译：

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差速转向车辆的鲁棒 H∞ Takagi-Sugeno 模糊输出反馈控制

本文研究了采用差速转向的四轮独立驱动电动汽车的建模和控制。Takagi-Sugeno 模糊建模方法代表了几个系统模型中四轮独立驱动电动汽车状态变量的非线性。所提出的控制器设计是基于模糊李雅普诺夫函数方法的鲁棒 Takagi-Sugeno 模糊输出反馈控制。更准确地说，Lyapunov 函数被选择为依赖于隶属函数。根据线性矩阵不等式约束，给出了鲁棒 Takagi-Sugeno 模糊控制器存在的充分条件。通过模拟四轮独立驱动电动汽车在不同工况下对设计参数进行测试。