H-infinity variable universe fuzzy control for lateral control of autonomous vehicle
自主汽车的侧向H∞自适应变论域模糊控制

Automatic steering control is a complex nonlinear system,which includes lane keeping and lane changing.An attempt is made to create the bridge between two important design techniques,i.e.H-infinity control design and fuzzy control design,so as to provide H-infinity control design with more intelligence and fuzzy control design with better robust performance.By Lyapunov method,the overall closed-loop system is shown to be stable.In the study,the effect of both fuzzy logic approximation error and external disturbance on the tracking error is attenuated to a prescribed level by adequately selecting the weighting factor.The simulation results of the lateral control of the autonomous vehicle are given to confirm that the control algorithm is feasible for practical application.