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01-12-2020 | Original Article | Issue 1/2020 Open Access

Chinese Journal of Mechanical Engineering 1/2020

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

Chinese Journal of Mechanical Engineering > Issue 1/2020
Wuwei Chen, Linfeng Zhao, Huiran Wang, Yangcheng Huang


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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