Lane keeping automation at tire saturation

Saïd Mammar (1) , Nicoleta Minoiu-Enache (1) , Sébastien Glaser (2) , Benoît Lusetti (2) , Andre Benine-Neto (2)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
2 LIVIC - Laboratoire sur les Interactions Véhicules-Infrastructure-Conducteurs

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.

Mots clés: Bilinear matrix inequality; Control laws; Design parameters; Invariant set; Lane keeping; Nonlinear behavior; Output feedback controller; Quadratic boundedness; Quadratic function; Safety constraint; Simulation tests; T-S fuzzy models; Takagi-sugeno; Vehicle Control; Vehicle lateral dynamics

Saïd Mammar, Nicoleta Minoiu-Enache, Sébastien Glaser, Benoît Lusetti, Andre Benine-Neto. Lane keeping automation at tire saturation. American Control Conference (ACC 2010), Jun 2010, Baltimore, MD, United States. pp.6466--6471. ⟨hal-00869539⟩