Robust Output Fuzzy Control: Application to Vehicle Lateral Dynamics

This paper deals with the robust control for Four Wheels Steering (4WS) vehicle dynamics when the road adhesion conditions change and the sideslip angle is unavailable for measurement. The nonlinear model of the vehicle, is firstly represented by a uncertain Takagi-Sugeno (T-S) model. Next, robust output stabilization of vehicle is considered. The controller and the observer are designed in terms of Bilinear Matrix Inequality (BMI) problem. The obtained simulation results indicate that considerable improvements in the vehicle handling can be achieved when the vehicle is governed by the proposed fuzzy observer-based controller.