Robust fuzzy control for vehicle lateral dynamic stability via Takagi-Sugeno fuzzy approach

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.