Robust H_∞ fuzzy networked control for vehicle lateral dynamics

摘要

Networked control system for vehicle lateral dynamics is developed in this study to improve the cornering stability. By considering the packet dropouts, network-induced delay, road adhesion variations, driver effect and only yaw rate sensor for measuring, a robust H_∞ fuzzy static output feedback controller operating through a communication network is designed. After giving the nonlinear model of the vehicle, its Takagi-Sugeno (T-S) incertain fuzzy model representation is first presented. Next, based on the Lyapunov krasovskii functional approach and a parallel distributed compensation scheme, the gains of the fuzzy controller are determined by solving a set of Linear Matrix Inequalities (LMI). Simulations have been conducted to evaluate the performance of the active cornering stability control system under limitation of the network resources caused by data transmission.