Abstract
This paper introduces an economical and effective full-scale driving simulator for study of human sensibility and development of new vehicle parts. The developed PNUVDS (Pusan National University Vehicle Driving Simulator) consists of several subsystems : a motion platform, a motion controller, a visual and audio system, a PC-based vehicle dynamic analysis system, and a vehicle operating system. The control problem of the motion platform is very important to accurately reappear a various vehicle motion when maneuvering a vehicle driving simulator. However, real-time robust control may be a difficult task because the motion platform is the nonlinear complex system. Therefore, this study proposes the sliding mode controller with perturbation compensator using observer-based fuzzy adaptive network (FAN). This control algorithm is designed to solve the chattering problem of a sliding mode control and to select the adequate fuzzy parameters of the perturbation compensator. For evaluating the trajectory control performance of the proposed approach, a tracking control of the motion platform is experimentally carried out. And then, the driving performance of the simulator is evaluated by using human perception and sensibility of some drivers in various driving condition.
