Abstract
This paper introduces a fuzzy model-based control approach for vehicle lateral system with uncertainties. Based on the Takagi-Sugeno (T-S) fuzzy modelling approach, a robust observer-based fuzzy control scheme, which integrates optimal fuzzy control with H∞ control, is investigated. Sufficient conditions that ensure robust control performance of the system are derived and expressed in terms of Linear Matrix Inequalities (LMIs) such that the fuzzy controller can efficiently be synthesised. In particular, the given performance index function is not only minimised but also confined within a prescribed value. The proposed method is validated in the aspect of effectiveness and correctness via computer simulation.
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