This paper presents the design and the simulation test of a Takagi-Sugeno (TS) fuzzy output feedback for yaw motion control. An integrated steering and differential braking controller based on invariant sets, quadratic boundedness theory and a common Lyapunov function has been developed. The TS fuzzy model is able to handle elegantly the nonlinear behavior the vehicle lateral dynamics. The computation of the control law has been achieved using Linear and Bilinear Matrix Inequalities (LMI-BMI) methods. Simulation test shows the controlled car is able to achieve the ISO3888-2 transient maneuver. Some design parameters can be adjusted to handle the tradeoff between safety constraints and comfort specifications.
Vehicle Yaw Motion Control Using Takagi-Sugeno Modeling and Quadratic Boundedness via Dynamic Output Feedback
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Mammar, S, Nouvelie`re, L, Minoiu-Enache, N, Glaser, S, Lusetti, B, & Gruyer, D. "Vehicle Yaw Motion Control Using Takagi-Sugeno Modeling and Quadratic Boundedness via Dynamic Output Feedback." Proceedings of the ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis. ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3. Istanbul, Turkey. July 12–14, 2010. pp. 209-218. ASME. https://doi.org/10.1115/ESDA2010-24809
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