Design of a sliding mode fuzzy observer for uncertain Takagi-Sugeno fuzzy model: application to automatic steering of vehicles. (2nd January 2008)

• Record Type: Journal Article
• Authors: Akhenak, A.; Chadli, M.; Ragot, J.; Maquin, D.
• Is Part Of: International journal of vehicle autonomous systems. Volume 5:Number 3/4(2007)
• Page Start: 288
• Page End: 305
• Publication Date: 2008-01-02
• Subjects: Takagi-Sugeno fuzzy model -- model uncertainty -- fuzzy observers -- sliding mode control -- Lyapunov stability -- linear matrix inequalities -- LMI -- yaw rate -- automatic steering -- vehicle steering; 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

This paper addresses the analysis and design of a Sliding Mode Fuzzy Observer (SMFO) on the basis of a Takagi-Sugeno (T-S) fuzzy model. The main contribution of the paper is the development of a robust fuzzy observer with respect to the uncertainties as well as the synthesis of sufficient stability conditions of this observer. The stabilisation of the fuzzy observer is performed by the search of suitable Lyapunov matrices. It is shown how to determine the gains of the local observers, these gains being solutions of a set of Linear Matrix Inequalities (LMIs). The validity of the proposed methodology is illustrated by an estimation of the yaw rate of automatic steering of vehicles.