Speed control design for a vehicle system using fuzzy logic

.Introduction
Engine and other automobile systems are increasingly controlled electronically. This has led to
improved fuel economy, reduced pollution, improved driving safety and reduced manufacturing
costs. However the automobile is a hostile environment: especially in the engine compartment,
where high temperature, humidity, vibration, electrical interference and a fine cocktail of
potentially corrosive pollutants are present. These hostile factors may cause electrical contacts to
deteriorate, surface resistances to fall and sensitive electronic systems to fail in a variety of modes.
Some of these failure modes will be benign, whereas others may be dangerous and cause accidents
and endanger to human life.
A cruise control system, or vehicle speed control system can keep a vehicle's speed constant on
long runs and therefore may help prevent driver fatigue [2-5]. If the driver hands over speed
control to a cruise control system, then the capability of the system to control speed to the set
value is just as critical to safety as is the capability of the driver to control speed manually. So the
cruise control system design is imperative and important to an automobile.

. Design requirements
a). Designing controller using fuzzy logic;
b). Making the automobiles speed keep constant.

. Model description of the automobile

The dynamics of the automobile [1] are given as follows

1
( Ap 2 (t ) d f (t ))
m
1
f&(t ) ( f (t ) u (t ))

Where u is the control input ( u 0 represents a throttle input and u 0 represents a brake

&(t )

input), m 1300kg is the mass of the vehicle, Ap 0.3 Ns 2 / m 2 is its aerodynamic drag,

d 100 N is a constant frictional force, f is the driving/braking force, and 0.2 sec is
saturated at 1000N ).
We can use fuzzy control method to design a cruise control system. Obviously, the fuzzy cruise

control design objective is to develop a fuzzy controller that regulates a vehicles speed (t ) to a
driver-specified value d (t ) .

. Speed control design using fuzzy logic

Fuzzy control logic and neural networks are other examples of methodologies control
engineers are examining to address the control of very complex systems. A good fuzzy control
logic application is in cruise control area.
1) Design of PI fuzzy controller
Suppose that we wish to be able to track a step or ramp change in the driver-specified speed
value d (t ) very accurately. A PI fuzzy controller can be used as shown in Fig. 1. In Fig. 1, the
fuzzy controller is denoted by ; g 0, g1 and g 2 are scaling gains; and b(t ) is the input of the
integrator.

Fig. 1 Speed control system using a PI fuzzy controller

Find the differential equation that describes the closed-loop system. Let the state be

x [ x1 , x2 , x3 ]T [ , f , b]T and find a system of three first-order ordinary differential equations

that can be used by the Runge-Kutta method in the simulation of the closed-loop system. is
used to represent the controller in the differential equations.
For the reference input, three different test signals can be used as follows:
a: Test input 1 makes d (t ) =18m/sec (40.3 mph) for 0 t 10 and d (t ) 22 m/sec
(49.2 mph) for 10 t 30 .
b: Test input 2 makes d (t ) =18m/sec (40.3 mph) for 0 t 10 and d (t ) increases
linearly (a ramp) from 18 to 22 m / sec by t 25sec , and then d (t ) 22 for 25 t 30 .
c: Test input 3 makes d (t ) =22 for 0 t and we use x(0) as the initial condition (this
represents starting the vehicle at rest and suddenly commanding a large increase speed).
Use x(0) [18,197.2, 20]T for test input 1 and 2.

Design the fuzzy controller to get less than 2% overshoot, a rise-time between 5 and 7 sec,
and a settling time of less than 8 sec (i.e., reach to within 2% of the final value within 8 sec) for
the jump from 18 to 22 m / sec in test input 1 that is defined above. Also, for the ramp input
(test input2 above) it must have less than 1 mph (0.447 m / sec ) steady-state error (i.e., at the
end of the ramp part of the input have less than 1 mph error). Fully specify the controller (e.g., the
membership functions, rule-base defuzzification, etc.) and simulate the closed-loop system to
demonstrate that it performs properly. Provide plots of (t ) and d (t ) on the same axis and u (t )
on a different plot. For test input 3 find the rise-time, overshoot, 2% settling time, and steady-state
error for the closed-loop system for the controller that you designed to meet the specifications for
test input 1 and 2. Using the Runge-Kutta method and integration step size of 0.01, the simulation
results can be shown as follows.
Test input 1

Fig. 2 Vehicle speeds and the output of fuzzy controller using test input 1
Test input 2

Fig. 3 Vehicle speeds and the output of fuzzy controller using test input 2
Test input 3

Fig. 4 Vehicle speeds and the output of fuzzy controller using test input 3
2) Design of PD fuzzy controller
Suppose that you are concerned with tracking a step change in d (t ) accurately and that you
use the PD fuzzy controller shown in Fig. 5. To represent the derivative, simply use a backward
difference

c (t )

e(t ) e(t h)
h

Where h is the integration step size in your simulation (or it could be your sampling period in an
implementation).

Fig. 5 Speed control system using a PD fuzzy controller

Design a PD fuzzy controller to get less than 2% overshoot, a rise-time between 7 and 10 sec.
and a settling time of less than 10 sec for test input 1 defined in a). Also, for the ramp input ( test
input 2 in 1)) it must have less than 1 mph steady-state error to the ramp (i.e., at the end of the
ramp part of the input, have less than 1 mph error).
Fully specify your controller and simulate the closed-loop system to demonstrate that it
performs properly. Provide plots of (t ) and d (t ) on the same axis and u (t ) on a different plot.
In the simulations, the Runge-Kutta method is used and an integration step size of 0.01.
Assume that x (0) [18,197.2]T for test inputs 1 and 2 (hence we ignore the derivative input
in coming up with the state equations for the closed-loop system and simply use the
approximation for c(t) that is shown above so that we have a two-state system). As a final test let

x(0) 0 and use test input 3 defined in 1).

Test input 1

Fig. 6 Vehicle speeds and the output of fuzzy controller using test input 1
Test input 2

Fig. 7 Vehicle speeds and the output of fuzzy controller using test input 2
Test input 3

Fig. 8 Vehicle speeds and the output of fuzzy controller using test input 3

. Summary
To keep an automobiles speed constant, a speed control design method using fuzzy logic is
presented. PI fuzzy controller and PD fuzzy controller design schemes are given to regulate a
vehicles speed to a driver-specified value. The simulation results show the validity and of the

proposed technique.
The control design procedure can be summarized as follows:
1 Modeling and performance objectives
Basically, the role of modeling a fuzzy control design is quite similar to its role in
conventional control system design. In fuzzy control there is a more significant emphasis on the
use of heuristics. Conventional feedback controller design entails constructing a controller to meet
the closed-loop specifications (such as disturbance rejection properties, insensitivity to plant
parameter variations, stability, overshoot, steady-state error et al), which is also applied to fuzzy
control design.
2

Fuzzy controller design

Fuzzy control design essentially amounts to (1) choosing the fuzzy controller inputs and

outputs (2) choosing the preprocessing that is needed for the controller inputs and possibly
postprocessing that is needed for the outputs, and (3) designing the four components of the fuzzy
controller: (a) The fuzzification interface simply modifies the inputs so that they can be interpreted
and compared to the rules in the rule-base. (b) The rule-base holds the knowledge, in the form of
a set of rules, of how best to control the system. (c) The inference engine evaluates which control
rules are relevant at the current time and then decides what the input to the plant should be. And
(d) the defuzzification interface converts the conclusions reached by the inference engine into the
inputs to the plant.
3

Computer simulation
To prove the effectivity of the controller design and check up whether the design

requirements are realized or not.

References
[1] K. M. Passino and S. Yurkovich(1997). Fuzzy control, 1st edn, Addision Wesley Longman,
Colifornia.
[2] Ward, D. 1999. Berlitz complete guide to cruising and cruise ships 2000. Princeton, New
Jersey: Berlitz Publishing Company.
[3] Ioannou, P.A.; Chien, C.C. "Autonomous Intelligent Cruise Control," IEEE Trans. on
Vehicular Technology, 42(4) :657 672, 1993.
[4] Mayr, R. Intelligent cruise control for vehicles based on feedback linearization. Proc. of
American Control Conference, pp. 16-20, 1994.
[5] Mayr, R.; Bauer, O. Safety issues in intelligent cruise control. Proc. Of 1999 IEEE

Intelligent Transportation Systems, pp. 970 975, 1999.