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Journal Articles International Journal of Vehicle Autonomous Systems Year : 2007

Design of a sliding mode fuzzy observer for uncertain Takagi-Sugeno fuzzy model: application to automatic steering of vehicle

Abstract

This paper addresses the analysis and design of a Sliding Mode Fuzzy Observer (SMFO) on the basis of a Takagi-Sugeno (T-S) fuzzy model. The main contribution of the paper is the development of a robust fuzzy observer with respect to the uncertainties as well as the synthesis of sufficient stability conditions of this observer. The stabilisation of the fuzzy observer is performed by the search of suitable Lyapunov matrices. It is shown how to determine the gains of the local observers, these gains being solutions of a set of Linear Matrix Inequalities (LMIs). The validity of the proposed methodology is illustrated by an estimation of the yaw rate of automatic steering of vehicles.
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Dates and versions

hal-00155269 , version 1 (16-06-2007)

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Abdelkader Akhenak, Mohammed Chadli, Didier Maquin, José Ragot. Design of a sliding mode fuzzy observer for uncertain Takagi-Sugeno fuzzy model: application to automatic steering of vehicle. International Journal of Vehicle Autonomous Systems, 2007, 5 (3/4), pp.288-305. ⟨10.1504/IJVAS.2007.016405⟩. ⟨hal-00155269⟩
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