Observer-based robust fuzzy control for vehicle lateral dynamics

Abstract

In this paper, the robust fuzzy control for four wheels steering (4WS) vehicle dynamics is studied via a Takagi-Sugeno (T-S) uncertain fuzzy model when the road adhesion conditions change and the sideslip angle is unavailable for measurement. After giving the nonlinear model of the vehicle, its representation by a T-S uncertain fuzzy model is discussed. Next, based on the uncertain fuzzy model of the 4WS Vehicle a fuzzy controller and a fuzzy observer are developed. The closed loop stability conditions of a vehicle with the fuzzy controller and the observer are parameterized in terms of linear matrix inequality (LMI) problem which can be solved very efficiently using the convex optimization techniques. The numerical simulation of the vehicle handling with and without the use of the developed observer and controller has been carried out. The simulation results obtained indicate that considerable improvements in the vehicle handling can be achieved whenever the vehicle is governed by the proposed fuzzy observer and fuzzy controller