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
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;
Conference_Titel :
Intelligent Transportation Systems (ITSC), 2011 14th International IEEE Conference on
Conference_Location :
Washington, DC
Print_ISBN :
978-1-4577-2198-4
DOI :
10.1109/ITSC.2011.6083147
