Anti-roll moment control for vehicle active stabilizer bar based on adaptive fuzzy ADRC

Abstract

Vehicle Active Stabilizer Bar (VASB) systems enhance vehicle stability and comfort by dynamically adjusting roll stiffness. Active Disturbance Rejection Control (ADRC) represents an ideal approach for VASB controllers due to its superior capability in suppressing internal and external system disturbances. However, conventional ADRC employs fixed parameters that limit its adaptability to complex driving environments. This paper proposes an adaptive fuzzy ADRC strategy that dynamically adjusts control parameters in real-time. The proposed method introduces an adaptive error factor and differential overlap factor to enable real-time adjustment of input membership functions based on system states, achieving precision tracking under small errors while ensuring stability under large errors. This approach significantly improves disturbance rejection capability and tracking performance, realizing optimal balance between control precision and robustness. Co-simulation results using MATLAB/Simulink and CarSim validate the effectiveness of the proposed controller. Under sinusoidal steering conditions, the proposed method achieves 33% and 20% improvements in roll stability compared to passive stabilizer bars and PID controllers, respectively. Peak roll angular velocity is reduced by 23% and 21% compared to PID and ADRC controllers, respectively. Under double lane change maneuvers, roll stability improves by 43% compared to passive systems, while roll angle adjustment range decreases by 35% and 11% compared to PID and ADRC controllers, respectively. Roll angular velocity adjustment is reduced by 33% and 32% compared to PID and ADRC controllers, respectively.