First order sliding fuzzy interval type-2 control applied for the steering vehicle control

This paper deals with an adaptive fuzzy type-2 sliding mode control for a steering vehicle control. Two fuzzy type-2 systems are used in order to obtain a global model and to derive an adaptation law control. In fact, to overcome the constraint on the knowledge of the vehicle model, a global model is deduced using type-2 fuzzy system. Then the obtained global T-2 fuzzy vehicle model is used to design a sliding mode steering vehicle control. Sufficient conditions of stability and asymptotic convergence of this controller are presented in Lyapunov sens. The adaptive type-2 fuzzy sliding mode control will be compared to the classical first order sliding mode control. Promising results have been obtained using real data acquired by a laboratory vehicle.