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Parallel Distributed Compensation /H∞Control of Lane-keeping System Based on the Takagi-Sugeno Fuzzy Model
- Source :
- Chinese Journal of Mechanical Engineering; December 2020, Vol. 33 Issue: 1
- Publication Year :
- 2020
-
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.
Details
- Language :
- English
- ISSN :
- 10009345 and 21928258
- Volume :
- 33
- Issue :
- 1
- Database :
- Supplemental Index
- Journal :
- Chinese Journal of Mechanical Engineering
- Publication Type :
- Periodical
- Accession number :
- ejs54107945
- Full Text :
- https://doi.org/10.1186/s10033-020-00477-9