Title: Robust output feedback control for vehicle lateral motion via T-S fuzzy model approach

Authors: Chen-Sheng Ting

Addresses: Department of Electrical Engineering, National Formosa University, 64 Wunhua Rd., Huwei, Yunlin 632, Taiwan

Abstract: This paper introduces a fuzzy model-based control approach for vehicle lateral system with uncertainties. Based on the Takagi-Sugeno (T-S) fuzzy modelling approach, a robust observer-based fuzzy control scheme, which integrates optimal fuzzy control with H control, is investigated. Sufficient conditions that ensure robust control performance of the system are derived and expressed in terms of Linear Matrix Inequalities (LMIs) such that the fuzzy controller can efficiently be synthesised. In particular, the given performance index function is not only minimised but also confined within a prescribed value. The proposed method is validated in the aspect of effectiveness and correctness via computer simulation.

Keywords: T-S fuzzy model; robust control; optimal control; fuzzy control; PDC; parallel distributed compensation; vehicle lateral motion; feedback control; Takagi-Sugeno; linear matrix inequalities; LMIs; simulation.

DOI: 10.1504/IJVAS.2010.034096

International Journal of Vehicle Autonomous Systems, 2010 Vol.8 No.1, pp.1 - 22

Received: 12 Nov 2008
Accepted: 25 Jul 2009

Published online: 12 Jul 2010 *

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