Fuzzy Output Feedback Steering Control of Lane Keeping Assistance Systems With Aperiodic Sampling

This article proposes a fuzzy output feedback steering control method for the vehicle lane keeping assistance system with aperiodic sampling. First, considering parameter uncertainties and sampled measurements together, the uncertain driver-vehicle-road (DVR) system is described by a Takagi–Sugeno fuzzy model, in which a time-varying input delay is employed to describe the aperiodic sampling. Second, according to Lyapunov stability theory, an effective state-feedback-based fuzzy steering controller design method is presented by the combination of an augmented Lyapunov–Krasovskii functional candidate and a class of integral inequalities. Third, given that the state-feedback structure may be infeasible in practical applications because the vehicle sideslip angle is hard to be measured, an output-feedback-based steering controller design method is proposed. Moreover, the output feedback gains can be effectively obtained via an iterative optimization algorithm based on the state feedback gains. Finally, simulation and experimental results show that the proposed fuzzy steering control method is effective to improve vehicle lane keeping performances, despite the occurrence of parameter uncertainties, time delay, and aperiodic sampling.