DocumentCode
2372657
Title
Fuzzy Takagi-Sugeno LQ controller for a shared control of vehicle
Author
Soualmi, B. ; Sentouh, C. ; Popieul, J.C. ; Debernard, S.
Author_Institution
Univ. Lille Nord de France, Lille, France
fYear
2011
fDate
5-7 Oct. 2011
Firstpage
956
Lastpage
961
Abstract
In this paper we propose an assistance system that share the lateral control of a vehicle based in fuzzy Takagi-Sugeno (T-S) optimal control solving a Linear Quadratic Regulator (LQR) problem. The T-S controller is based in a T-S modelization of the vehicle that takes into account longitudinal velocity variation. A decision making algorithm that manage the authority between the driver and the controller is implemented.
Keywords
angular velocity control; decision making; driver information systems; fuzzy control; linear quadratic control; decision making algorithm; driving assistance systems; fuzzy Takagi-Sugeno LQ controller; linear quadratic regulator; longitudinal velocity variation; optimal control; vehicle control; Humans; Mathematical model; Torque; Trajectory; Vehicle dynamics; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Transportation Systems (ITSC), 2011 14th International IEEE Conference on
Conference_Location
Washington, DC
ISSN
2153-0009
Print_ISBN
978-1-4577-2198-4
Type
conf
DOI
10.1109/ITSC.2011.6083147
Filename
6083147
Link To Document