Journal
INTERNATIONAL JOURNAL OF FUZZY SYSTEMS
Volume 23, Issue 5, Pages 1370-1378Publisher
SPRINGER HEIDELBERG
DOI: 10.1007/s40815-020-01042-1
Keywords
Takagi– Sugeno fuzzy model; Robust lane keeping control; Parameter-dependent Lyapunov functions; Characteristic polynomial
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Funding
- ECOS Nord - SEP CONACYT ANUIES Project [Mexico 291309/France M17M08]
- Mexican CONACYT scholarship [731421]
- Regional Delegation for Research and Technology
- French Ministry of Higher Education and Research
- National Center for Scientific Research
- ELSAT2020 project
- European Regional Development Fund
- Hauts de France Region Council
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This paper introduces a novel control technique for automated lane keeping of a vehicle, which utilizes exact fuzzy modelling of bounded parametric uncertainties and parameter-dependent Lyapunov analysis. The proposed technique has shown to increase the feasibility of synthesizing a robust steering control law compared to designs based solely on Lyapunov.
This paper is concerned with a novel control technique for automated lane keeping of a vehicle, which takes advantage of an exact fuzzy modelling of bounded parametric uncertainties-both constant and varying-for a convex treatment of local characteristic polynomials, put together via parameter-dependent Lyapunov analysis. It is shown that the specificity of the proposed technique enlarges the feasibility chances of synthesizing a robust steering control law in contrast with only-Lyapunov-based designs. The proposal is put at test in simulation for the perturbed bicycle model.
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