Fuzzy-Model-Based Output Feedback Steering Control in Autonomous Driving Subject to Actuator Constraints

Abstract

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.