Moment robust output controller to improve vehicle stability

In this paper, the moment robust active control of vehicle lateral dynamics is studied when the road adhesion conditions change and the sideslip angle is unavailable for measurement. Based on Takagi-Sugeno (T-S) representation a robust T-S controller based observer is designed in terms of Linear Matrix Inequality (LMI) problem which can be solved very efficiently using the convex optimization techniques. To take account the variation of tire slip angles, the case of membership functions depending on state variables is considered for observer and controller design. The numerical simulation of the vehicle handling obtained indicate that considerable improvements in the vehicle handling can be achieved whenever the vehicle is governed by the proposed T-S observer based controller.