4.5 Article

A novel parameter-dependent polynomial approach for robust automated lane keeping

Journal

INTERNATIONAL JOURNAL OF FUZZY SYSTEMS
Volume 23, Issue 5, Pages 1370-1378

Publisher

SPRINGER HEIDELBERG
DOI: 10.1007/s40815-020-01042-1

Keywords

Takagi– Sugeno fuzzy model; Robust lane keeping control; Parameter-dependent Lyapunov functions; Characteristic polynomial

Funding

  1. ECOS Nord - SEP CONACYT ANUIES Project [Mexico 291309/France M17M08]
  2. Mexican CONACYT scholarship [731421]
  3. Regional Delegation for Research and Technology
  4. French Ministry of Higher Education and Research
  5. National Center for Scientific Research
  6. ELSAT2020 project
  7. European Regional Development Fund
  8. 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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