Advanced Transportation Equipment

Parallel Distributed Compensation / H Control of Lane-keeping System Based on the Takagi-Sugeno Fuzzy Model

  • Wuwei Chen ,
  • Linfeng Zhao ,
  • Huiran Wang ,
  • Yangcheng Huang
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  • School of Automobile and Trafc Engineering, Hefei University of Technology, Hefei 230009, China

收稿日期: 2019-09-16

  修回日期: 2020-06-30

  网络出版日期: 2020-11-06

基金资助

Supported by National Natural Science Foundation of China (Grant Nos. 51675151, U1564201) and Open Fund of the Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment of Ministry of Education (Grant No. GDSC202013)

Parallel Distributed Compensation / H Control of Lane-keeping System Based on the Takagi-Sugeno Fuzzy Model

  • Wuwei Chen ,
  • Linfeng Zhao ,
  • Huiran Wang ,
  • Yangcheng Huang
Expand
  • School of Automobile and Trafc Engineering, Hefei University of Technology, Hefei 230009, China

Received date: 2019-09-16

  Revised date: 2020-06-30

  Online published: 2020-11-06

Supported by

Supported by National Natural Science Foundation of China (Grant Nos. 51675151, U1564201) and Open Fund of the Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment of Ministry of Education (Grant No. GDSC202013)

摘要

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.

本文引用格式

Wuwei Chen , Linfeng Zhao , Huiran Wang , Yangcheng Huang . Parallel Distributed Compensation / H Control of Lane-keeping System Based on the Takagi-Sugeno Fuzzy Model[J]. Chinese Journal of Mechanical Engineering, 2020 , 33(4) : 61 -61 . DOI: 10.1186/s10033-020-00477-9

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.

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