Design of integrated wheel slip-skid factor and vehicle side slip angle using mamdani fuzzy control

Vehicle dynamics plant phenomena during acceleration, deceleration and curve turning in uncertainty ground road is very complexity and nonlinearity model. No integrated chassis control by various systems have been proposed to control vehicle behavior by distributing front-rear and left-right braking/ABS & driving/TCS forces, adjusting rear-wheel steering angle/4WS. ABS and TCS can reduce the slip and skid factor that improve the braking and driving performance but cannot eliminate the vehicle sideslip (VSS). In other side four wheel steering (4WS) have good performance in reducing of vehicle sideslip to improve maneuver ability but fail in decreasing of stopping distance (SD) and increasing driving performance (DP). In this research, to solve the previous problem, author purpose an integrated ABS-TCS-4WS control using mamdani-fuzzy logic. Input and output variable are described. Steering maneuver, slope of the road, vehicle mass (number of passenger) are the input variables, while error of wheel slip factor, error of skid factor and error of vehicle sideslip are output variables. In this research, parameter for reference, wheel slip and skid factor are setup to 20% and vehicle sideslip to be zero degree. 22 rules was setup to produce the best mamdani fuzzy in adapting the nonlinearity of the vehicle dynamics. Result of the research shown, that error of wheel slip factor was 3.2%, error of skid factor was 2.8% and error of vehicle side slip was 4.2 degree.