This paper presents the design and the simulation test of a Takagi-Sugeno (TS) fuzzy lane keeping output feedback controller. The vehicle control law has been developed based on invariant sets and quadratic boundedness theory, based on a common quadratic function. The TS fuzzy model is able to handle elegantly the nonlinear behavior the vehicle lateral dynamics. The computation of the control law has been achieved using Linear and Bilinear Matrix Inequalities (LMI-BMI) methods. Some design parameters can be adjusted to handle the tradeoff between safety constraints and comfort specifications.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.