Non-linear vehicle control using fuzzy modeling and LMI control
Type de document
COMMUNICATION AVEC ACTES INTERNATIONAL (ACTI)
Résumé / Abstract
In this paper, a non-linear LMI control synthesis method based on fuzzy system modeling is introduced. The nonlinear terms of the system model are linearized using the concept of Takagi-Sugeno fuzzy modeling. Afterwards, the system parameter variations are modeled using a linear fractional system description. Stability conditions and control objectives of such systems are derived as a set of LMI conditions. By using the parallel distributed compensation concept, a fuzzy state feedback is synthesized as an optimization problem under lmi set conditions. Finally the design methodology is applied to the problem of robust automatic steering of a vehicle.