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

Authors:
P. -F. Toulotte;S. Delprat;T. -M. Guerra;J. Boonaert
Affiliations:
LAMIH, UMR CNRS 8530, University of Valenciennes et du Hainaut-Cambrésis Le Mont Houy, 59313 Valenciennes Cedex 9, France and SID, Ecole des Mines de Douai,764 bvd Lahure, 59508 Douai;LAMIH, UMR CNRS 8530, University of Valenciennes et du Hainaut-Cambrésis Le Mont Houy, 59313 Valenciennes Cedex 9, France;LAMIH, UMR CNRS 8530, University of Valenciennes et du Hainaut-Cambrésis Le Mont Houy, 59313 Valenciennes Cedex 9, France;SID, Ecole des Mines de Douai,764 bvd Lahure, 59508 Douai
Venue:
Engineering Applications of Artificial Intelligence
Year:
2008

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Abstract

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.