TY - JOUR
T1 - Fuzzy-Model-Based Output Feedback Steering Control in Autonomous Driving Subject to Actuator Constraints
AU - Zhang, C.
AU - Lam, H.
AU - Qiu, J.
AU - Qi, P.
AU - Chen, Q.
N1 - Funding Information:
Manuscript received September 21, 2019; accepted November 11, 2019. Date of publication November 22, 2019; date of current version March 1, 2021. This work was supported in part by the National Natural Science Foundation of China under Grant U1764261, Grant 61733013, Grant 61922063, Grant 61873311, Grant 61872271, and Grant 61763045, in part by the Self-Planned Task of State Key Laboratory of Robotics and Systems of Harbin Institute of Technology under Grant SKLRS201801A03, in part by the Natural Science Foundation of Shanghai under Grant 19ZR1478900, and in part by the China Scholarship Council. (Corresponding author: Peng Qi.) C. Zhang is with the Department of Control Science and Engineering, Tongji University, Shanghai 201804, China (e-mail: [email protected]).
Publisher Copyright:
© 1993-2012 IEEE.
Copyright:
Copyright 2021 Elsevier B.V., All rights reserved.
PY - 2021/3
Y1 - 2021/3
N2 - 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 vehicle cruising, the vehicle velocity always changes due to the different road conditions and/or steering wheel maneuvers, and moreover, the vehicle dynamics is also significantly influenced by the tire/road forces under different road surface conditions, which brings many difficulties in steering controller design. By adopting fuzzy modeling techniques and varying look-ahead control strategy, an approach to the T-S fuzzy antiwindup output feedback controller design is proposed for the steering control in path tracking within T-S fuzzy-model-based analysis framework, where the actuator amplitude saturation and rate limit are simultaneously taken into consideration. Finally, valuation results with Carsim/MATLAB joint simulation are shown to demonstrate the effectiveness of the developed methods, and some comparison results in path tracking performance with fixed look-ahead distance control rule and the driver model controller embedded in Carsim are provided, which illustrate the advantages of the developed controller design method.
AB - 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 vehicle cruising, the vehicle velocity always changes due to the different road conditions and/or steering wheel maneuvers, and moreover, the vehicle dynamics is also significantly influenced by the tire/road forces under different road surface conditions, which brings many difficulties in steering controller design. By adopting fuzzy modeling techniques and varying look-ahead control strategy, an approach to the T-S fuzzy antiwindup output feedback controller design is proposed for the steering control in path tracking within T-S fuzzy-model-based analysis framework, where the actuator amplitude saturation and rate limit are simultaneously taken into consideration. Finally, valuation results with Carsim/MATLAB joint simulation are shown to demonstrate the effectiveness of the developed methods, and some comparison results in path tracking performance with fixed look-ahead distance control rule and the driver model controller embedded in Carsim are provided, which illustrate the advantages of the developed controller design method.
UR - http://www.scopus.com/inward/record.url?scp=85102349715&partnerID=8YFLogxK
U2 - 10.1109/TFUZZ.2019.2955044
DO - 10.1109/TFUZZ.2019.2955044
M3 - Article
SN - 1063-6706
VL - 29
SP - 457
EP - 470
JO - IEEE Transactions on Fuzzy Systems
JF - IEEE Transactions on Fuzzy Systems
IS - 3
M1 - 8910455
ER -