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- Title
Multi-objective H<sub>2</sub>/H<sub>∞</sub> saturated non-PDC static output feedback control for path tracking of autonomous vehicle.
- Authors
Kennouche, Amine; Saifia, Dounia; Chadli, Mohammed; Labiod, Salim
- Abstract
This paper presents a new fuzzy output feedback control design for autonomous vehicle steering under actuator saturation, unavailability of the sideslip angle measurement, unknown road curvature, and lateral wind force. To take into account the actuator constraint, the saturation effect is transformed into dead-zone nonlinearity. A static output controller based on non-compensation parallel distributed technic and a Takagi-Sugeno (T-S) model of vehicle lateral dynamics is proposed to consider the unavailability of some vehicle states. To avoid the problem of imposing bounds on membership functions time derivatives resulting from the use of the fuzzy Lyapunov approach, a proper integral structure based on the non-quadratic Lyapunov approach is investigated. The mixed H 2 / H ∞ stabilization conditions of the augmented closed-loop system are expressed in terms of linear matrix inequalities (LMIs). Finally, the robustness and the advantages of the proposed approaches are demonstrated through different tests.
- Subjects
AUTONOMOUS vehicles; LINEAR matrix inequalities; WIND pressure; LATERAL loads; MEMBERSHIP functions (Fuzzy logic)
- Publication
Transactions of the Institute of Measurement & Control, 2022, Vol 44, Issue 11, p2235
- ISSN
0142-3312
- Publication type
Article
- DOI
10.1177/01423312221080461