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Fuzzy Static Output Feedback Control for Path Following of Autonomous Vehicles With Transient Performance Improvements

Abstract : This paper provides a new solution for path following control of autonomous ground vehicles. H 2 control problem is considered to attenuate the effect of the road curvature disturbance. To this end, we formulate a standard model from the road-vehicle dynamics, the a priori knowledge on the road curvature, and the path following specifications. This standard model is then represented in a Takagi-Sugeno fuzzy form to deal with the time-varying nature of the vehicle speed. Based on a static output feedback scheme, the proposed method allows avoiding expensive vehicle sensors while keeping the simplest control structure for real-time implementation. The concept of V-stability is exploited using Lyapunov stability arguments to improve the transient behaviors of the closed-loop vehicle system. In particular, the physical upper and lower bounds of the vehicle acceleration are explicitly considered in the design procedure via a parameter-dependent Lyapunov function to reduce drastically the design conservatism. The proposed H 2 design conditions are expressed in terms of linear matrix inequalities (LMIs) with a single line search parameter. The effectiveness of the new path following control method is clearly demonstrated with both theoretical illustrations and hardware experiments under realworld driving situations.
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https://hal-uphf.archives-ouvertes.fr/hal-03468394
Contributor : Mylène Delrue Connect in order to contact the contributor
Submitted on : Tuesday, December 7, 2021 - 10:10:20 AM
Last modification on : Sunday, May 15, 2022 - 3:36:34 AM

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Tran Anh-Tu Nguyen, Chouki Sentouh, Hui Zhang, Jean-Christophe Popieul. Fuzzy Static Output Feedback Control for Path Following of Autonomous Vehicles With Transient Performance Improvements. IEEE Transactions on Intelligent Transportation Systems, IEEE, 2020, 21 (7), pp.3069-3079. ⟨10.1109/TITS.2019.2924705⟩. ⟨hal-03468394⟩

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