This paper introduces a fuzzy guaranteed cost control approach for automated steering of a highway vehicle. The Takagi-Sugeno (T-S) fuzzy model is utilized to depict the dynamics of nonlinear time-varying lateral system. Based on the fuzzy model, an observer-based fuzzy controller is developed so that without knowing road's curvature the vehicle can track center of the present lane on a curved highway section. Integrating Hinfinity control and optimal control strategies, the fuzzy controller and observer are formulated by solving a minimization problem, which is to minimize a given quadratic performance function. Sufficient conditions to ensure minimum upper bound of the performance function are derived in terms of linear matrix inequalities (LMIs). Therefore, the designing work can be efficiently completed by applying the convex optimization techniques. Verified by computer simulation, the proposed method can perform well in driving safety and ride comfort.
An output-feedback fuzzy approach to guaranteed cost control of vehicle lateral motion
Eine Fuzzy-Regelung mit Ausgangsrückkopplung der Fahrzeugquerdynamik
Mechatronics ; 19 , 3 ; 304-312
2009
9 Seiten, 9 Bilder, 25 Quellen
Aufsatz (Zeitschrift)
Englisch
Robust output feedback control for vehicle lateral motion via T-S fuzzy model approach
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