.png){kind=icon}
.png){kind=icon}
Return
Fuzzy Game-Theoretic Tube Model Predictive Control for Integrated Vehicle Stability System
.png){kind=icon}
PRE
AI
G
C
Y
S
G
W
DOI：10.1109/tfuzz.2026.3695547.png)
.png){kind=icon}
Original request for help.png){kind=icon}
Share.png){kind=icon}
Save
Abstract
En 中文
This article develops a fuzzy game-theoretic tube model predictive control (MPC) framework for coordinated vehicle lateral motion control using active front steering (AFS) and direct yaw moment control (DYC). The vehicle dynamics are represented by a discrete-time Takagi–Sugeno fuzzy model to capture operating-condition dependence and parametric uncertainty, while a common-feedback tube MPC structure is employed to guarantee robust constraint satisfaction through an offline-designed invariant tube and terminal set. On this basis, the nominal control problem is formulated as a two-player finite-horizon Nash game, allowing AFS and DYC to optimize individual performance objectives under shared state dynamics and constraints. To enable real-time implementation, two fixed-complexity online Nash solvers are considered: a best-response (BR) iteration scheme and a variational inequality (VI) formulation solved by an extragradient method. The closed-loop analysis establishes recursive feasibility under bounded disturbances and finite-iteration online equilibrium computation. In addition, a practical input-to-state stability result is derived, in which the effect of inexact online Nash solutions is explicitly captured through a practical-descent framework. Compared with the BR solver, the VI-based solver provides a more direct residual-based interpretation of equilibrium approximation accuracy and its relation to closed-loop stability margins. Hardware-in-the-loop experiments under multiple driving maneuvers verify that the proposed framework is computationally tractable and effective in real time, while achieving robust tracking performance, constraint satisfaction, and coordinated actuator usage.
Keywords:
Active front steering (AFS)/direct yaw moment control (DYC) integration
fuzzy system
game theory
Nash equilibrium
tube model predictive control (TMPC)
Journal
IF:
11.9
Papers:
4.9K
Citations:
2.9W
Organization
Cited Papers