H∞ fuzzy Networked control for vehicle lateral dynamics

Author

Latrach, Chedia ; Kchaou, Mourad ; El Hajjaji, A. ; Rabhi, A.

Author_Institution

MIS, Univ. of Picardie Jules Verne Modelling, Amiens, France

fYear

2013

fDate

25-28 June 2013

Firstpage

1538

Lastpage

1543

Abstract

A vehicle dynamics control system (NCS) has been developed in this study for improving vehicle yaw rate dynamics under unreliable communication links with packet dropouts, and network-induced delay which are two typical network constraints of unreliable transmission. The NCS system consists of a fuzzy H_∞ static output feedback controller. After giving the nonlinear model of the vehicle, a Takagi-Sugeno (T-S) fuzzy model representation is first discussed. Next, based on the Lyapunov krasovskii functional approach and a parallel distributed compensation scheme, the gains of the fuzzy controller are determined in terms of Linear Matrix Inequality (LMI). Simulations have been conducted to evaluate performance of the closed loop system under limitation of the network resources caused by data transmission.

Keywords

H^∞ control; Lyapunov methods; automobiles; closed loop systems; compensation; control system synthesis; delays; feedback; fuzzy control; linear matrix inequalities; networked control systems; nonlinear control systems; stability; vehicle dynamics; H_∞ fuzzy networked control; LMI; Lyapunov-Krasovskii functional approach; NCS; T-S fuzzy model representation; Takagi-Sugeno fuzzy model representation; closed loop system; communication links; fuzzy H_∞ static output feedback controller; fuzzy controller gains; linear matrix inequality; network constraints; network resources; network-induced delay; packet dropouts; parallel distributed compensation scheme; premium automobiles; vehicle dynamics control system; vehicle lateral dynamics; vehicle nonlinear model; vehicle yaw rate dynamics; Actuators; Delays; Force; Sensors; Vehicle dynamics; Vehicles; (T-S) fuzzy model; H∞ control; Linear Matrix Inequality (LMI); vehicle dynamics control system (NCS);

fLanguage

English

Publisher

ieee

Conference_Titel

Control & Automation (MED), 2013 21st Mediterranean Conference on

Conference_Location

Chania

Print_ISBN

978-1-4799-0995-7

Type

conf

DOI

10.1109/MED.2013.6608926

Filename

6608926