{"title":"Robust fuzzy control for vehicle lateral dynamic stability via Takagi-Sugeno fuzzy approach","authors":"Xianjian Jin, Guo-dong Yin, Junmin Wang","doi":"10.23919/ACC.2017.7963822","DOIUrl":null,"url":null,"abstract":"This paper presents a robust fuzzy H∞ controller design for vehicle lateral dynamic stability control via a Takagi-Sugeno (T-S) fuzzy modeling approach. As vehicle lateral dynamics possesses inherent nonlinearities, the main objective of this work is to deal with the nonlinear challenge in vehicle dynamics. First, the T-S fuzzy modeling approach is applied to represent the nonlinear Brush tire dynamics, and then the multi-model-based uncertain nonlinear vehicle lateral dynamics fuzzy system is established. In terms of the parallel-distributed compensation (PDC) strategy and defined premise variables, the robust fuzzy H∞ state-feedback controller is finally designed with Lyapunov theory and quadratic stabilization. Sufficient condition for the existence of such a robust fuzzy controller is derived and solved via a set of linear matrix inequalities. The simulations with a high-fidelity, CarSim®, full-vehicle model show the effectiveness of the proposed controller under a J turn-like maneuver.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2017-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"17","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 American Control Conference (ACC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.23919/ACC.2017.7963822","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 17
Abstract
This paper presents a robust fuzzy H∞ controller design for vehicle lateral dynamic stability control via a Takagi-Sugeno (T-S) fuzzy modeling approach. As vehicle lateral dynamics possesses inherent nonlinearities, the main objective of this work is to deal with the nonlinear challenge in vehicle dynamics. First, the T-S fuzzy modeling approach is applied to represent the nonlinear Brush tire dynamics, and then the multi-model-based uncertain nonlinear vehicle lateral dynamics fuzzy system is established. In terms of the parallel-distributed compensation (PDC) strategy and defined premise variables, the robust fuzzy H∞ state-feedback controller is finally designed with Lyapunov theory and quadratic stabilization. Sufficient condition for the existence of such a robust fuzzy controller is derived and solved via a set of linear matrix inequalities. The simulations with a high-fidelity, CarSim®, full-vehicle model show the effectiveness of the proposed controller under a J turn-like maneuver.