文章基本信息

标题：Takagi-Sugeno Model-based Steering Control for Autonomous Vehicles with Actuator Saturation *
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作者：Anh-Tu Nguyen ; Chouki Sentouh ; Jean-Christophe Popieul 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：5
页码：206-211
DOI：10.1016/j.ifacol.2016.07.114
语种：English
出版社：Elsevier
摘要：AbstractThis paper is devoted to the development of a novel control law for an autonomous vehicle. The control goal is to perform lane keeping under multiple constraints, namely actuator saturation of the steering system, roads with unknown curvature, and uncertain lateral wind force. Such system constraints will be explicitly considered in the control design procedure. To achieve this goal, we propose a novel constrained Takagi-Sugeno control method using non-quadratic Lyapunov stability framework. The obtained non-parallel distributed compensation controller is not only able to handle various system constraints but also a large variation range of vehicle speed. Especially, by means of the well-known Taylor’s approximation method we can significantly reduce the numerical complexity of the proposed control method to ease the real-time control implementation. The control synthesis conditions are expressed in terms of linear matrix inequalities which can be efficiently solved with available solvers. The effectiveness of the proposed method is demonstrated with different simulation scenarios.
关键词：KeywordsAutonomous vehicleslane keeping controlTakagi-Sugeno fuzzy systemsactuator saturationlinear matrix inequality