LQR Optimal Control of Four-steering Vehicle Based on Particle Swarm Optimization Algorithm

Songfeng Zhu*, Xueyuan Li, Xinyi Qu, Qi Liu, Zirui Li

*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

1 Citation (Scopus)
31 Downloads (Pure)

Abstract

This paper proposes a linear quadratic controller based on particle swarm algorithm for the rear wheel control of four-wheel steering vehicle. Particle swarm optimization with fitness functions is used to optimize the coefficients of the weight matrix offline. The fuzzy rules following the controller is used if the road condition is terrible. The simulation results show that the LQR control model based on particle swarm optimization makes the trajectory tracking of the vehicle better and the side slip angle of the vehicle lower. It can be proved that the controller has positive effect on handling stability of the vehicle and safety of drivers.

Original languageEnglish
Title of host publicationProceedings of 2022 2nd International Conference on Control and Intelligent Robotics, ICCIR 2022
PublisherAssociation for Computing Machinery (ACM)
Pages740-745
Number of pages6
ISBN (Electronic)9781450397179
DOIs
Publication statusPublished - 2022
Event2nd International Conference on Control and Intelligent Robotics, ICCIR 2022 - Virtual, Online, China
Duration: 24 Jun 202226 Jun 2022

Publication series

NameACM International Conference Proceeding Series

Conference

Conference2nd International Conference on Control and Intelligent Robotics, ICCIR 2022
Country/TerritoryChina
CityVirtual, Online
Period24/06/2226/06/22

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

  • fuzzy controller
  • LQR
  • particle swarm optimization
  • side slip angle

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