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.
Fuzzy Takagi-Sugeno LQ controller for lateral control assistance of a vehicle
2012 IEEE Intelligent Vehicles Symposium ; 377-382
2012-06-01
1462575 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Fuzzy Takagi-Sugeno LQ Controller for Lateral Control Assistance of a Vehicle
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