Title: Moment robust fuzzy observer-based control for improving driving stability

Authors: M. Chadli, A. El Hajjaji

Addresses: Centre de Robotique, d'Electrotechnique et d'Automatique, EA 3299, University of Picardie Jules Verne, 7, Rue du Moulin Neuf, 80000, Amiens, France. ' Centre de Robotique, d'Electrotechnique et d'Automatique, EA 3299, University of Picardie Jules Verne, 7, Rue du Moulin Neuf, 80000, Amiens, France

Abstract: In this paper, the moment robust active control of vehicle lateral dynamics is studied when the road adhesion conditions change and the sideslip angle is unavailable for measurement. A model of cornering forces based on Takagi-Sugeno (T-S) fuzzy model is developed and used to represent non-linear lateral dynamic of the vehicle. Next, a robust T-S controller-based observer is designed. To take account of the variation of tyre slip angles, the case of membership functions depending on state variables is also considered. The numerical simulation indicates that considerable improvements in the vehicle handling can be achieved with the proposed T-S observer-based controller.

Keywords: vehicle dynamics; moment control; Takagi-Sugeno fuzzy model; uncertainty; observers; controllers; Lyapunov method; LMI; tyre slip angles; robust control; active control; lateral dynamics; cornering forces; fuzzy control; simulation; vehicle handling; driving stability.

DOI: 10.1504/IJVAS.2007.016407

International Journal of Vehicle Autonomous Systems, 2007 Vol.5 No.3/4, pp.326 - 344

Available online: 28 Dec 2007 *

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