A Novel Real-Time Robust Controller of a Four-Wheel Independent Steering System for EV Using Neural Networks and Fuzzy Logic

Alexis Kosmidis (), Georgios Ioannidis, Georgios Vokas and Stavros Kaminaris
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Alexis Kosmidis: Department of Electrical and Electronics Engineering, University of West Attica, GR-12244 Egaleo, Greece
Georgios Ioannidis: Department of Electrical and Electronics Engineering, University of West Attica, GR-12244 Egaleo, Greece
Georgios Vokas: Department of Electrical and Electronics Engineering, University of West Attica, GR-12244 Egaleo, Greece
Stavros Kaminaris: Department of Electrical and Electronics Engineering, University of West Attica, GR-12244 Egaleo, Greece

Mathematics, 2023, vol. 11, issue 21, 1-17

Abstract: In this study a four-wheel independent steering (4WIS) system for an electric vehicle (EV) steered by stepper motors is presented as a revolutionary real-time control technique employing neural networks in combination with fuzzy logic, where the use of the neural network greatly simplifies the computational process of fuzzy logic. The control of the four wheels is based on a variation of a Hopfield Neural Network (VHNN) method, in which the input is the error of each steering motor and the output is processed by a hyperbolic tangent function (HTF) feeding the fuzzy logic controller (FLC), which ultimately drives the stepper motor. The whole system consists of the four aforementioned blocks which work in sync and are inseparable from each other with the common goal of driving all the steering stepper motors at the same time. The novelty of this system is that each wheel monitors the condition of the others, so even in the case of the failure of one wheel, the vehicle does not veer off course. The results of the simulation show that the suggested control system is very resilient and workable at all angles and speeds.

Keywords: four-wheel independent steering; steer-by-wire; electric vehicles; steering geometry; stepper motor; neural network; fuzzy logic (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
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