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

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.

Automated summary

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.