A novel parameter-dependent polynomial approach for robust automated lane keeping

被引：0
|
作者：
Marcelino Sánchez
Jorge Álvarez
Sébastien Delprat
Miguel Bernal
机构：
[1] Sonora Institute of Technology,Department of Electrical Engineering
[2] Université Polytecnique Hauts de France,LAMIH
来源：
International Journal of Fuzzy Systems | 2021年 / 23卷
关键词：
Takagi–Sugeno fuzzy model; Robust lane keeping control; Parameter-dependent Lyapunov functions; Characteristic polynomial;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
This paper is concerned with a novel control technique for automated lane keeping of a vehicle, which takes advantage of an exact fuzzy modelling of bounded parametric uncertainties—both constant and varying—for a convex treatment of local characteristic polynomials, put together via parameter-dependent Lyapunov analysis. It is shown that the specificity of the proposed technique enlarges the feasibility chances of synthesizing a robust steering control law in contrast with only-Lyapunov-based designs. The proposal is put at test in simulation for the perturbed bicycle model.
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页码：1370 / 1378
页数：8
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