Discrete-Time Takagi-Sugeno Stabilization Approach Applied in Autonomous Vehicles
نویسندگان
چکیده
This paper deals with a new robust control design for autonomous vehicles. The goal is to perform lane-keeping under various constraints, mainly unknown curvature and lateral wind force. To reach this goal, formulation of Parallel Distributed Compensation (PDC) law given. quadratic Lyapunov stability stabilization conditions the discrete-time Takagi–Sugeno (T-S) model representing vehicles are discussed. Sufficient expressed in terms strict Linear Matrix Inequalities (LMIs) extracted from linearization Bilinear (BMIs) proposed. An illustrative example provided show effectiveness proposed approach.
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ژورنال
عنوان ژورنال: Journal of Sensor and Actuator Networks
سال: 2022
ISSN: ['2224-2708']
DOI: https://doi.org/10.3390/jsan11010012