Abstract
AbstractThis paper presents a Takagi-Sugeno (TS) fuzzy control approach combined with a lateral velocity observer for the double-lane change maneuver of an autonomous vehicle in the existence of parametric uncertainties. Since the tire force is influenced by the driving conditions and manifests the highly nonlinear property when working on the edge of physical limits, the common assumption of linear dependence on the tire-slip angle is conservative in some cases. Therefore, the norm-bounded nonlinearity of tire cornering stiffness and the variation of tire-road friction coefficient in the tire model are taken into consideration. The dynamic model of the system is represented by the TS system with multiple fuzzy rules, then the parallel distributed compensation (PDC) scheme is employed to construct the controller. Besides, the observer is integrated into the TS system to estimate the lateral velocity which is normally challenging to measure accurately in practice. For the synthesis, the stability of the closed-loop system is analyzed using the linear matrix inequalities (LMIs) technique. Numerical simulations with different scenarios are carried out to illustrate the effectiveness of the proposed method.KeywordsAutonomous vehicleLateral controlTakagi-Sugeno fuzzy controlLinear matrix inequalitiesLateral velocity estimation
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