Abstract
This paper deals with a new robust control design for autonomous vehicles. The goal is to perform lane-keeping under various constraints, mainly unknown curvature and lateral wind force. To reach this goal, a new formulation of Parallel Distributed Compensation (PDC) law is given. The quadratic Lyapunov stability and stabilization conditions of the discrete-time Takagi–Sugeno (T-S) model representing the autonomous vehicles are discussed. Sufficient design conditions expressed in terms of strict Linear Matrix Inequalities (LMIs) extracted from the linearization of the Bilinear Matrix Inequalities (BMIs) are proposed. An illustrative example is provided to show the effectiveness of the proposed approach.
Highlights
Autonomous vehicles require sensors to collect information about the road and a central processing unit to analyze all the data for making decisions appropriately
We present the results of the lateral control of autonomous vehicles for T-S
We proposed in this paper an improved Parallel Distributed Compensation law for lateral control purpose, suggesting new steering control architecture of autonomous vehicles
Summary
Autonomous vehicles require sensors to collect information about the road and a central processing unit to analyze all the data for making decisions appropriately. These authors achieved very interesting results regarding lateral control based on Takagi–Sugeno models Various constraints such as road with unknown curvature, steering saturation and lateral wind force, sweeping into large range of vehicle longitudinal speed and exploiting an approximated vector state containing six intern variables for effective control were fully used in their work. We introduce a new mathematical term in the classic PDC control law; this term is composed of the optimized gains times the gradient term of the state vector This is to make the trajectory slides faster to the global minimum of the ellipsoid shape created by the Lyapunov function applied to the T-S system. The third section presents the control design for discrete-time T-S systems, which focuses on the stabilization of discrete-time T-S fuzzy system based on the new PDC control law and the synthesis of multi-observers. The last section presents the new results and compares them with previous results
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
