Moment robust fuzzy observer-based control for improving driving stability. (2nd January 2008)

• Record Type: Journal Article
• Authors: Chadli, M.; El Hajjaji, A.
• Is Part Of: International journal of vehicle autonomous systems. Volume 5:Number 3/4(2007)
• Page Start: 326
• Page End: 344
• Publication Date: 2008-01-02
• Subjects: vehicle dynamics -- moment control -- Takagi-Sugeno fuzzy model -- uncertainty -- observers -- controllers -- Lyapunov method -- LMI -- tyre slip angles -- robust control -- active control -- lateral dynamics -- cornering forces -- fuzzy control -- simulation -- vehicle handling -- driving stability; Autonomous vehicles -- Periodicals; Motor vehicles -- Technological innovations -- Periodicals; Motor vehicles -- Electronic equipment -- Periodicals; Robots -- Control systems -- Periodicals; Intelligent transportation systems -- Periodicals; 629.20285
• Languages: English
• ISSNs: 1471-0226

Abstract

In this paper, the moment robust active control of vehicle lateral dynamics is studied when the road adhesion conditions change and the sideslip angle is unavailable for measurement. A model of cornering forces based on Takagi-Sugeno (T-S) fuzzy model is developed and used to represent non-linear lateral dynamic of the vehicle. Next, a robust T-S controller-based observer is designed. To take account of the variation of tyre slip angles, the case of membership functions depending on state variables is also considered. The numerical simulation indicates that considerable improvements in the vehicle handling can be achieved with the proposed T-S observer-based controller.