Fuzzy Takagi-Sugeno LQ controller for a shared control of vehicle

In this paper we propose an assistance system that share the lateral control of a vehicle based in fuzzy Takagi-Sugeno (T-S) optimal control solving a Linear Quadratic Regulator (LQR) problem. The T-S controller is based in a T-S modelization of the vehicle that takes into account longitudinal velocity variation. A decision making algorithm that manage the authority between the driver and the controller is implemented.