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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    Title :

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


    Contributors:
    Soualmi, B. (author) / Sentouh, C. (author) / Popieul, J. C. (author) / Debernard, S. (author)


    Publication date :

    2012-06-01


    Size :

    1462575 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Fuzzy Takagi-Sugeno LQ Controller for Lateral Control Assistance of a Vehicle

    Soualmi, B. / Sentouh, C. / Popieul, J.-C. et al. | British Library Conference Proceedings | 2012


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