Vehicle spacing control using robust fuzzy control with pole placement in LMI region

This work presents a robust pole placement in an LMI region for Takagi-Sugeno (TS) (Takagi T., Sugeno M., 1985. Fuzzy identification of systems and its application to modelling and control. IEEE Transactions on SMC 15 (1), 116-132.) fuzzy models. The objective is to find a set of linear matrix inequalities in order to ensure that the linear model poles of the nonlinear TS model remain in a specified region of the complex plane, even in presence of model uncertainties. As an illustration, the obtained conditions are applied to the spacing policy control of an automated electric vehicle. Simulation and real-time results are presented.

[1]  P. Gahinet,et al.  H∞ design with pole placement constraints: an LMI approach , 1996, IEEE Trans. Autom. Control..

[2]  Charles A. Desoer,et al.  Longitudinal Control of a Platoon of Vehicles , 1990, 1990 American Control Conference.

[3]  Lihua Xie,et al.  Robust H/sub infinity / control for linear systems with norm-bounded time-varying uncertainty , 1992 .

[4]  Pierre Apkarian,et al.  Robust pole placement in LMI regions , 1999, IEEE Trans. Autom. Control..

[5]  Kazuo Tanaka,et al.  Fuzzy Control Systems Design and Analysis: A Linear Matrix Inequality Approach , 2008 .

[6]  Kazuo Tanaka,et al.  Model construction, rule reduction, and robust compensation for generalized form of Takagi-Sugeno fuzzy systems , 2001, IEEE Trans. Fuzzy Syst..

[7]  Robert Babuska,et al.  Perspectives of fuzzy systems and control , 2005, Fuzzy Sets Syst..

[8]  Kazuo Tanaka,et al.  An approach to fuzzy control of nonlinear systems: stability and design issues , 1996, IEEE Trans. Fuzzy Syst..

[9]  Won Jee Chung,et al.  A new design method for continuous Takagi-Sugeno fuzzy controller with pole placement constraints: an LMI approach , 1997, 1997 IEEE International Conference on Systems, Man, and Cybernetics. Computational Cybernetics and Simulation.

[10]  Michio Sugeno,et al.  Fuzzy identification of systems and its applications to modeling and control , 1985, IEEE Transactions on Systems, Man, and Cybernetics.

[11]  Stephen P. Boyd,et al.  Linear Matrix Inequalities in Systems and Control Theory , 1994 .

[12]  E. Yaz.  Linear Matrix Inequalities In System And Control Theory , 1998, Proceedings of the IEEE.

[13]  C. C. Chien,et al.  Regulation layer controller design for automated highway systems , 1995 .

[14]  Reza Langari,et al.  An LMI-based H fuzzy control system design with TS framework , 2000, Inf. Sci..

[15]  Thierry Marie Guerra,et al.  Control strategies for hybrid vehicles: optimal control , 2002, Proceedings IEEE 56th Vehicular Technology Conference.

[16]  Petros A. Ioannou,et al.  A Comparision of Spacing and Headway Control Laws for Automatically Controlled Vehicles1 , 1994 .

[17]  L. Nouvelière,et al.  Commandes robustes appliquees au controle assiste d'un vehicule a basse vitesse , 2002 .

[18]  Shahab Sheikholeslam,et al.  Longitudinal Control of a Platoon of Vehicles; Ill: Nonlinear Model , 1990 .

[19]  Shaocheng Tong,et al.  Fuzzy robust tracking control for uncertain nonlinear systems , 2002, Int. J. Approx. Reason..

[20]  Pierre Apkarian,et al.  Parameterized linear matrix inequality techniques in fuzzy control system design , 2001, IEEE Trans. Fuzzy Syst..