This paper describes a concept of lane keeping assistance system based on the fuzzy Takagi-Sugeno (T-S) optimal controller. Nonlinearities due to longitudinal velocity variation in the lateral dynamics are considered to give a T-S representation and Linear Matrix Inequalities (LMI) are used to reach the appropriate T-S optimal controller that insure the global stability of the closed loop system. In conclusion the effectiveness of the proposed approach is illustrated in Matlab/Simulink and experimental tests carried out on the ”SHERPA” (Simulateur Hybride d'Etude et de Recherche de PSA pour l'Automobile) simulator.


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    Titel :

    Fuzzy Takagi-Sugeno LQ controller for lateral control assistance of a vehicle


    Beteiligte:
    Soualmi, B. (Autor:in) / Sentouh, C. (Autor:in) / Popieul, J. C. (Autor:in) / Debernard, S. (Autor:in)


    Erscheinungsdatum :

    2012-06-01


    Format / Umfang :

    1462575 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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