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Takagi-Sugeno Model-based Steering Control for Autonomous Vehicles with Actuator Saturation

Abstract : This paper is devoted to the development of a novel control law for an autonomous vehicle. The control goal is to perform lane keeping under multiple constraints, namely actuator saturation of the steering system, roads with unknown curvature, and uncertain lateral wind force. Such system constraints will be explicitly considered in the control design procedure. To achieve this goal, we propose a novel constrained Takagi-Sugeno control method using non-quadratic Lyapunov stability framework. The obtained non-parallel distributed compensation controller is not only able to handle various system constraints but also a large variation range of vehicle speed. Especially, by means of the well-known Taylor’s approximation method we can significantly reduce the numerical complexity of the proposed control method to ease the real-time control implementation. The control synthesis conditions are expressed in terms of linear matrix inequalities which can be efficiently solved with available solvers. The effectiveness of the proposed method is demonstrated with different simulation scenarios.
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https://hal-uphf.archives-ouvertes.fr/hal-03406890
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Submitted on : Thursday, October 28, 2021 - 10:31:01 AM
Last modification on : Wednesday, November 3, 2021 - 3:56:52 AM

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  • HAL Id : hal-03406890, version 1

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Tran Anh-Tu Nguyen, Chouki Sentouh, Jean-Christophe Popieul. Takagi-Sugeno Model-based Steering Control for Autonomous Vehicles with Actuator Saturation. 4th IFAC Conference on Intelligent Control and Automation Sciences ICONS 2016, Jun 2016, Reims, France. pp.206-211. ⟨hal-03406890⟩

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