observer-based decentralised fuzzy control design for nonlinear interconnected systems: an application to vehicle dynamics

Chedia Latrach, Mourad Kchaou and Hervé Guéguen

International Journal of Systems Science, 2017, vol. 48, issue 7, 1485-1495

Abstract: In this study, a decentralised output learning control strategy for a class of nonlinear interconnected systems is studied. Based on Takagi-Sugeno fuzzy (TS) model to approximate the considered interconnected nonlinear systems, a decentralised observer-based control scheme is designed to override the external disturbances such that the H∞$\mathcal {H}_\infty$ performance is achieved. The appealing attributes of this approach include: (1) the closed-loop system exhibits a robustness against nonlinear interconnections and external disturbance, (2) by one-step procedure, the gain matrices of observer and controller are obtained on a single step. In simulation results, the controller design is evaluated on the steering stability of a car where the nonlinear model describes the side slip, roll and yaw motions of the automotive vehicle equipped with four-wheel-steering and active suspension.

Date: 2017
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DOI: 10.1080/00207721.2016.1266527

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