Multi-objective H2/H∞ saturated non-PDC static output feedback control for path tracking of autonomous vehicle

Abstract

This paper presents a new fuzzy output feedback control design for autonomous vehicle steering under actuator saturation, unavailability of the sideslip angle measurement, unknown road curvature, and lateral wind force. To take into account the actuator constraint, the saturation effect is transformed into dead-zone nonlinearity. A static output controller based on non-compensation parallel distributed technic and a Takagi-Sugeno (T-S) model of vehicle lateral dynamics is proposed to consider the unavailability of some vehicle states. To avoid the problem of imposing bounds on membership functions time derivatives resulting from the use of the fuzzy Lyapunov approach, a proper integral structure based on the non-quadratic Lyapunov approach is investigated. The mixed [Formula: see text] stabilization conditions of the augmented closed-loop system are expressed in terms of linear matrix inequalities (LMIs). Finally, the robustness and the advantages of the proposed approaches are demonstrated through different tests.