In this paper we propose an assistance system that share the lateral control of a vehicle based in fuzzy Takagi-Sugeno (T-S) optimal control solving a Linear Quadratic Regulator (LQR) problem. The T-S controller is based in a T-S modelization of the vehicle that takes into account longitudinal velocity variation. A decision making algorithm that manage the authority between the driver and the controller is implemented.


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    Title :

    Fuzzy Takagi-Sugeno LQ controller for a shared control of vehicle


    Contributors:
    Soualmi, B. (author) / Sentouh, C. (author) / Popieul, J. C. (author) / Debernard, S. (author)


    Publication date :

    2011-10-01


    Size :

    1077266 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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