Robust control for electronic stability program (ESP) on four wheel vehicle prototype

In this paper, present a vehicle actuator response using a hybrid control and make the vehicle has electronic stability program. Electronic Stability Program (ESP) is an automatic stability control systems on vehicles. Where the system works to avoid understeer and oversteer conditions when the vehicle is turning. Understeer is a condition where the vehicle more difficult to turn, this is because the front wheels tend to slip so that the vehicle will be more difficult to turn. Oversteer is a condition in which the vehicle is easier to turn, this is because the rear wheel tends to slip so that the vehicle will be easier to turn. Understeer and oversteer conditions often occur when turn or when a vehicle suddenly turn to avoid another vehicle. The control system designed for controlling vehicle is Fuzzy and PID-AFC. Fuzzy is for the high level control and PID-AFC is for low level control. Fuzzy processed a wheel speed, steering angle and IMU data. And PID-AFC receive set points value for wheel deceleration and acceleration from Fuzzy output. PID-AFC control the speed of left and right rear wheels when slip occurs. With this control the vehicle is expected to have a fast response and resistant to slip that happened. The test has successfully compared between PID and PID - AFC when running the motor. Without control, steady state error reaches 27.1%. When using PID steady state error only 1.7% with oscillation 12 times, when there is disturbance PID takes 1.4 seconds to return to setpoint. When using PID-AFC steady state error is only 1.7% with oscillation only 5 times and when any disturbance PID-AFC takes only 1.1 seconds to return to setpoint.