Tracking controller design of a sideslip angle and yaw rate for electrical vehicle bicycle model

To improve road safety, this paper proposes a fuzzy control strategy of the rear steering angle and yaw moment of an Electric Vehicle (EV). A H∞ control structure based on the Takagi-Sugeno (TS) multi-models is proposed to track the desired trajectories and to attenuate external disturbances. First, a bicycle model is introduced with a reference model that are used to construct the augmented system. Next, fuzzy TS multi-models are used to represent the Linear Parameters Varying (LPV) system. Then, based on these models a Parallel Distributed Compensation (PDC) control law is designed. Finally, the stability analysis is treated as a convex optimization problem formulated in Linear Matrix Inequality (LMI) formalism. Finally, the simulation results of the proposed control strategy illustrate the efficiency of the proposed approach.