Robust H∞ Takagi–Sugeno fuzzy output-feedback control for differential speed steering vehicles

Abstract

This paper studied the modelling and control of four-wheel independently driven electric vehicles using differential speed steering. The Takagi–Sugeno fuzzy modelling approach represents the nonlinearities of the four-wheel independently driven electric vehicle state variables in several system models. The proposed controller design is a robust Takagi–Sugeno fuzzy output-feedback control based on a fuzzy Lyapunov function approach. More precisely, the Lyapunov function is chosen to be dependent on the membership functions. Sufficient conditions for the existence of the robust Takagi–Sugeno fuzzy controller are given in terms of linear matrix inequality constraints. The designed parameters are tested by simulating the four-wheel independently driven electric vehicles under varying operating conditions. The simulation results underscore the robustness and disturbance rejection importance of the proposed controller, which is then contrasted to better highlight the improved performance of the proposed approach over a fixed robust controller design.