ANFIS-based active front steering system for reducing yaw disturbance of a vehicle using steer-by-wire system

This paper presents Adaptive Neuro Fuzzy Inference System (ANFIS)-based steering controller for improving lateral stability of a vehicle by reducing the effects of transient errors and external disturbances on yaw rate and sideslip angle during different manoeuvre and road surface. As the sideslip angle of the vehicle cannot be measured directly, extended Kalman filter is used in the present work for estimating it, further; it is used as input to ANFIS controller using yaw rate error and steering angle for improving the manoeuvrability, path tracking and lateral stability of the vehicle for dry road, wet road and mu-split road conditions. From the simulation results, that proposed method has the improved transient yaw tracking characteristics as compared with the uncontrolled model, fuzzy logic model by correcting steering angle for maintaining optimal vehicle trajectory.