Lane keeping automation at tire saturation

This paper presents the design and the simulation test of a Takagi-Sugeno (TS) fuzzy lane keeping output feedback controller. The vehicle control law has been developed based on invariant sets and quadratic boundedness theory, based on a common quadratic function. The TS fuzzy model is able to handle elegantly the nonlinear behavior the vehicle lateral dynamics. The computation of the control law has been achieved using Linear and Bilinear Matrix Inequalities (LMI-BMI) methods. Some design parameters can be adjusted to handle the tradeoff between safety constraints and comfort specifications.