Fuzzy Takagi-Sugeno LQ controller for lateral control assistance of a vehicle

This paper describes a concept of lane keeping assistance system based on the fuzzy Takagi-Sugeno (T-S) optimal controller. Nonlinearities due to longitudinal velocity variation in the lateral dynamics are considered to give a T-S representation and Linear Matrix Inequalities (LMI) are used to reach the appropriate T-S optimal controller that insure the global stability of the closed loop system. In conclusion the effectiveness of the proposed approach is illustrated in Matlab/Simulink and experimental tests carried out on the ”SHERPA” (Simulateur Hybride d´Etude et de Recherche de PSA pour l´Automobile) simulator.