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Parallel Distributed Compensation /H∞ Control of Lane-keeping System Based on the Takagi-Sugeno Fuzzy Model

Authors
  • Chen, Wuwei1
  • Zhao, Linfeng1
  • Wang, Huiran1
  • Huang, Yangcheng1
  • 1 Hefei University of Technology, Hefei, 230009, China , Hefei (China)
Type
Published Article
Journal
Chinese Journal of Mechanical Engineering
Publisher
Springer Singapore
Publication Date
Aug 31, 2020
Volume
33
Issue
1
Identifiers
DOI: 10.1186/s10033-020-00477-9
Source
Springer Nature
Keywords
License
Green

Abstract

Current research on lane-keeping systems ignores the effect of the driver and external resistance on the accuracy of tracking the lane centerline. To reduce the lateral deviation of the vehicle, a lane-keeping control method based on the fuzzy Takagi-Sugeno (T-S) model is proposed. The method adopts a driver model based on near and far visual angles, and a driver-road-vehicle closed-loop model based on longitudinal nonlinear velocity variation, obtaining the expected assist torque with a robust H∞ controller which is designed based on parallel distributed compensation and linear matrix inequality. Considering the external influences of tire adhesion and aligning torque when the vehicle is steering, a feedforward compensation control is designed. The electric power steering system is adopted as the actuator for lane-keeping, and active steering redressing is realized by a control motor. Simulation results based on Carsim/Simulink and real vehicle test results demonstrate that the method helps to maintain the vehicle in the lane centerline and ensures driving safety.

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