Fuzzy-Model-Based Output Feedback Steering Control in Autonomous Driving Subject to Actuator Constraints

In this article, the problem of steering control based on Takagi-Sugeno (T-S) fuzzy vehicle lateral dynamics is investigated for autonomous driving with nonlinearities, system uncertainties, and actuator constraints. During normal vehicle cruising, the vehicle velocity always changes due to the different road conditions and/or steering wheel maneuvers, and moreover, the vehicle dynamics is also significantly influenced by the tire/road forces...