Title: Robust output fuzzy control for vehicle lateral dynamic stability improvement

Authors: Mohammed Chadli, Ahmed Elhajjaji, Mohammed Oudghiri

Addresses: Laboratory of Modelisation, Information et Systemes, University of Picardie Jules Verne, 7, Rue du Moulin Neuf, Amiens 80000, France. ' Laboratory of Modelisation, Information et Systemes, University of Picardie Jules Verne, 7, Rue du Moulin Neuf, Amiens 80000, France. ' Laboratory of Modelisation, Information et Systemes, University of Picardie Jules Verne, 7, Rue du Moulin Neuf, Amiens 80000, France

Abstract: This paper deals with the robust control for Four Wheels Steering (4WS) vehicle dynamics when the road adhesion conditions change and the sideslip angle is unavailable for measurement. The non-linear model of the vehicle is first represented by an uncertain Takagi–Sugeno model. Next, the robust output stabilisation of the vehicle is considered. The controller and the observer are designed in terms of Bilinear Matrix Inequalities (BMI) problem. A method is then proposed to get the LMI formulation resolved sequentially. The obtained simulation results indicate that considerable improvements in the vehicle handling can be achieved when the vehicle is governed by the proposed fuzzy observer-based controller.

Keywords: vehicle dynamics; fuzzy modelling; uncertainties; observer; observer-based controllers; Lyapunov method; LMI; robust control; fuzzy control; vehicle lateral dynamics; dynamic stability; four wheel steering; nonlinear models; simulation.

DOI: 10.1504/IJMIC.2008.020123

International Journal of Modelling, Identification and Control, 2008 Vol.3 No.3, pp.247 - 257

Published online: 28 Aug 2008 *

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