MULTI-MODEL BASED CONTROLLER FOR LATERAL VEHICLE DYNAMICS: A FUZZY APPROACH

In this paper, we present a lateral vehicle dynamics control strategy. After giving the nonlinear model of the vehicle, its representation by a Takagi-Sugeno (T-S) fuzzy model is first discussed. Next, a fuzzy controller and a fuzzy observer are synthesized which guarantee desired control performances. To ensure vehicle skid prevention, a steer-by-wire control system, which uses longitudinal wheel forces, is presented. Longitudinal velocity variation as well as front steering angle variation is taken into account in the vehicle control system synthesis. The closed loop stability conditions are parameterized in terms of Linear Matrix Inequality (LMI) problem which can be solved very efficiently using the convex optimization techniques. The simulation results show effectiveness and robustness of the proposed method.