Robust Fuzzy Cooperative Steering Control for Lateral Stability of Intelligent Vehicles Subject to External Disturbances and Actuator Faults

A cooperative steering control algorithm based on external disturbances and actuator faults can effectively improve the lateral stability of intelligent vehicles. In order to capture the nonlinear and uncertain characteristics of the vehicle system, such as the tire lateral cornering stiffness, varying speeds, and uncertainty in the driver's steering behavior, an interval type-2 fuzzy method is used to model the system. Furthermore, actuator faults are considered within the control structure, and a fault-tolerant control project is integrated into the cooperative steering controller to ensure a stable output of the assisted steering. Then, a set of sufficient conditions are given to calculate the gain of the cooperative steering controller by utilizing the theory of Lyapunov function, and external disturbances and actuator faults problem are considered to improve the robustness and reliability of the controller. Finally, simulation tests are conducted on the Matlab/Simulink platform. The results show that the proposed method significantly enhances the lateral dynamic stability of intelligent vehicles.