Fuzzy-Model-Based Output Feedback Steering Control in Autonomous Driving Subject to Actuator Constraints

In this article, the problem of steering control based on Takagi-Sugeno (T-S) fuzzy vehicle lateral dynamics is investigated for autonomous driving with nonlinearities, system uncertainties, and actuator constraints. During normal cruising, velocity always changes due to different road conditions and/or wheel maneuvers, moreover, also significantly influenced by tire/road forces under surface conditions, which brings many difficulties in controller design. By adopting modeling techniques varying look-ahead strategy, an approach T-S antiwindup output feedback design proposed path tracking within fuzzy-model-based analysis framework, where amplitude saturation rate limit are simultaneously taken into consideration. Finally, valuation results Carsim/MATLAB joint simulation shown demonstrate effectiveness developed methods, some comparison performance fixed distance rule driver model embedded Carsim provided, illustrate advantages method.