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.

中文翻译：

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通过降阶方法对非线性动态系统进行事件触发模糊滤波


在本文中，研究了基于 Takagi-Sugeno (TS) 模糊车辆横向动力学的转向控制问题，用于具有非线性、系统不确定性和执行器约束的自动驾驶。在车辆正常巡航过程中，车辆速度总是会因路况和/或方向盘操作的不同而发生变化，而且车辆动力学也受到不同路面条件下轮胎/路面力的显着影响，这给车辆行驶带来了许多困难。转向控制器设计。通过采用模糊建模技术和变化的前瞻控制策略，提出了一种 TS 模糊抗饱和输出反馈控制器设计方法，用于在基于 TS 模糊模型的分析框架内进行路径跟踪中的转向控制，其中执行器振幅饱和度和速率同时考虑极限。最后，通过Carsim/MATLAB联合仿真评估结果，证明了所开发方法的有效性，并提供了固定前瞻距离控制规则和Carsim中嵌入的驾驶员模型控制器的路径跟踪性能的一些比较结果，这说明了所开发的控制器设计方法的优点。