Fachrudin Hunaini, Fresy Nugroho, Purbo Suwandono, Gatot Subiyakto
This paper aims to further improve the performance of the control system on the steer by wire (SbW) of vehicle steering system, by presenting the development of optimal control system strategy for lateral motion and yaw motion which is arranged in a cascade so that the vehicle can always be maintained on the desired trajectory. The control system strategy to be developed is fuzzy logic control (FLC) as a lateral motion control and proportional integral derivative (PID) control as a yaw motion control, and to obtain an optimal control system, the modified-quantum particle swarm optimization (MQPSO) optimization method is used. The simulations are carried out using hardware in the loop simulations (HILS) which involve hardware, namely; motor stepper actuator and rotary encoder to determine and monitor the direction of the front wheels which are applied to the vehicle dynamics model in a real time. HILS test results show that vehicle movement can be maintained according to the desired trajectory (double lane change) with an average continues-root mean square (C-RMS) error of 0.015366 for lateral motion and 0.014967 for yaw motion, the average C-RMS error is greater 23.75% for lateral motion and 28.18% for yaw motion against the results of the software in the loop simulations (SILS) test. © 2022, Institute of Advanced Engineering and Science. All rights reserved.
Department of Electrical Engineering, Faculty of Engineering, Universitas Widyagama, Malang, Indonesia; Department of Informatic Engineering, Universitas Islam Negeri Maulana Malik Ibrahim, Malang, Indonesia; Department of Mechanical Engineering, Universitas Widyagama, Malang, Indonesia
Research at a Glance
Register to unlock
Topics & SDG Alignment
Register to unlock
Collaboration
Register to unlock
Author Profile (Selected)
Register to unlock
References Overview
Register to unlock
Journal & Source
Register to unlock
Metadata & Integrity
Register to unlock