Research on Takagi-Sugeno Fuzzy-Model-Based Vehicle Stability Control for Autonomous Vehicles
Round 1
Reviewer 1 Report
This paper develops the lateral path-following by active steering and a Fuzzy approach.
Although the authors provide a Lyapunov stability test and semi-experimental data, this approach has been widely adopted in the past; other proposals include other varying operating conditions in addition to the vehicle speed. The authors do not provide a fair comparison with similar works and compare their results with a quadratic LMI regulator without parameter uncertainty.
The suggestion for the authors is to review the state of the art and compare their results with similar proposals to declare their actual contributions.
Additionally, the selected operating conditions are ideal; for low steering angles, fixed friction coefficient, designated road bank, bicycle model, et cétera. Authors must enhance their proposal since the vehicle dynamic is very complex to run this control in reality.
The paper's title must be redefined to precise the paper's primary objective.
Also, an in-depth grammar review of the paper is necessary; template fragments must be adapted/deleted/checked.
Author Response
Thank you for your comments. Please find the reply in the attachment.
Author Response File: 
Author Response.pdf
Reviewer 2 Report
- 1. A critical review of the literature well developed. The authors included a total of 36 items in the bibliography, all items are up-to-date from 2000-2021. Out of 36 references, basically 90% are the positions of authors of articles published in Asia, please provide the positions of other authors of articles, e.g. from America, Europe or other countries. In the introduction to the article, the authors correctly provided the topics of each subsection. In the course, please specify - your opinion on the impact of disturbances on the proposed system - literature review or in two or three sentences, describe how such an issue can be solved.
- The presented figures are very well elaborated, and the derived mathematical relationships are correctly developed.
- The simulation results - chapter 4 The authors prepared well. Figure 6 is legible, but its size was increased and it described the meaning of individual paintings.
- The conclusions in the article are poorly formulated - it's only 6 sentences. Please describe in the conclusions the directions of further research - what the authors propose to change, what to do in further research, how to improve the model, etc.
- Before the literature, I suggest that the authors of the article list the most important markings in the article. This will allow you to read the entire text better.
Author Response
Thank you for your comments. Please find the reply in the attachment.
Author Response File: Author Response.pdf
Reviewer 3 Report
The article entitled “LMI-based Steering Torque Control of Takagi-Sugeno Fuzzy Model for Vehicle Stability” represents a superposition control method of steering moment considering the change of vehicle speed utilizing the Takagi-Sugeno fuzzy framework. The paper is a simulation-based study. This study is interesting and novel. My comments are presented below.
1. It was very difficult to follow some parts of this manuscript particularly the methodology. There are too many equations that make it complex for a reader to follow.
2. This paper suffers from a weak and short conclusion.
3. Please provide a comprehensive discussion and compare the findings with previous studies.
4. What is the implementation/application of the model in the real-world?
Author Response
Thank you for your comments. Please find the reply in the attachment.
Author Response File: Author Response.pdf
Round 2
Reviewer 1 Report
The authors have improved the paper's quality and provided acceptable responses to my concerns.
Some minor concerns are the following:
- Line 54, "But the parameter adjustment of the PID control algorithm is mostly by trial and error method." This is not true; there are numerous analytic tuning methods; authors must also be clear on self-adaptability since the PID can adapt to some error behavior.
- Line 76 "pr/opposed"
- Line 80, "control effect is good." Please use formal expressions.
- Line 101 "In the current study, most people use..."
- Line 109 " the traditional vehicle stability control methods have certain limitations" This is not true for every related research in literature. Please be specific.
- Line 308. What does a "vehicle more stable" means?
- In general, define "gentle change."
- Line 389. What does "burden of the driver" means?
- Line 391 and in general, avoid simple qualifying adjectives for instance " the control effect of the T-S model controller is better and the stability of the vehicle is better guaranteed"; always use error differences or other statistic metrics instead.
- The correct term is semi-experimental or quasi-experimental results since simulations are still involved.
Author Response
Dear chief editor, we have carefully thought over and answered your questions. Please see the attachment for your reply
Author Response File: Author Response.pdf
