Two Fuzzy Multiple Reference Model Tracking Control Designs with an Application to Vehicle Lateral Dynamics Control

This paper presents two control design methods for the general class of Takagi-Sugeno (T-S) fuzzy models. The main goal is to stabilize the system as well as to force the output vector to track a desired trajectory. These two control methods belong to the multi-controller approach by considering the dynamic output feedback case. But in the first approach, we derive analytical expressions of the dynamic output feedback controller matrices whereas in the second one, the controller is described by a convex interpolation of linear control laws, each of them is calculated by a linear dynamic output feedback controller. We give results on the stability analysis as well as the tracking performance of the two approaches by using H
∞
theory and Linear Matrix Inequalities (LMI). Note that the desired trajectory is calculated by a convex interpolation of multiple linear reference models. Finally, a simulation example for the vehicle lateral dynamics control is given to illustrate and compare the two control algorithms.