{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T02:50:41Z","timestamp":1760151041058,"version":"build-2065373602"},"reference-count":29,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2022,2,9]],"date-time":"2022-02-09T00:00:00Z","timestamp":1644364800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000038","name":"Natural Sciences and Engineering Research Council of Canada","doi-asserted-by":"publisher","award":["Project RGPIN\/1056-2017"],"award-info":[{"award-number":["Project RGPIN\/1056-2017"]}],"id":[{"id":"10.13039\/501100000038","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["JSAN"],"abstract":"<jats:p>This paper deals with a new robust control design for autonomous vehicles. The goal is to perform lane-keeping under various constraints, mainly unknown curvature and lateral wind force. To reach this goal, a new formulation of Parallel Distributed Compensation (PDC) law is given. The quadratic Lyapunov stability and stabilization conditions of the discrete-time Takagi\u2013Sugeno (T-S) model representing the autonomous vehicles are discussed. Sufficient design conditions expressed in terms of strict Linear Matrix Inequalities (LMIs) extracted from the linearization of the Bilinear Matrix Inequalities (BMIs) are proposed. An illustrative example is provided to show the effectiveness of the proposed approach.<\/jats:p>","DOI":"10.3390\/jsan11010012","type":"journal-article","created":{"date-parts":[[2022,2,9]],"date-time":"2022-02-09T21:22:15Z","timestamp":1644441735000},"page":"12","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Discrete-Time Takagi-Sugeno Stabilization Approach Applied in Autonomous Vehicles"],"prefix":"10.3390","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9256-3016","authenticated-orcid":false,"given":"Mohamed Ali","family":"Jemmali","sequence":"first","affiliation":[{"name":"School of Electrical Engineering and Computer Science, University of Ottawa, 800 King Edward Ave, Ottawa, ON K1N 6N5, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hussein T.","family":"Mouftah","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering and Computer Science, University of Ottawa, 800 King Edward Ave, Ottawa, ON K1N 6N5, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,2,9]]},"reference":[{"doi-asserted-by":"crossref","unstructured":"Herrmann, A., Brenner, W., and Stadler, R. (2018). Autonomous Driving: How the Driverless Revolution Will Change the World, Emerald Group Publishing.","key":"ref_1","DOI":"10.1108\/9781787148338"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"4673","DOI":"10.1109\/TCYB.2020.3009128","article-title":"Constrained Output-Feedback Control for Discrete-Time Fuzzy Systems with Local Nonlinear Models Subject to State and Input Constraints","volume":"51","author":"Nguyen","year":"2020","journal-title":"IEEE Trans. Cybern."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"4046","DOI":"10.1109\/TIE.2019.2920599","article-title":"Adaptive Fuzzy Tracking Control of Flexible-Joint Robots Based on Command Filtering","volume":"67","author":"Ling","year":"2020","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"2447","DOI":"10.1109\/TIE.2020.2970680","article-title":"Adaptive-event-trigger-based fuzzy nonlinear lateral dynamic control for autonomous electric vehicles under insecure communication networks","volume":"68","author":"Li","year":"2020","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"206","DOI":"10.1016\/j.ifacol.2016.07.114","article-title":"Takagi-sugeno model-based steering control for autonomous vehicles with actuator saturation","volume":"49","author":"Nguyen","year":"2016","journal-title":"IFAC-PapersOnLine"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"9374","DOI":"10.1016\/j.jfranklin.2017.11.027","article-title":"Fuzzy steering control for autonomous vehicles under actuator saturation: Design and experiments","volume":"355","author":"Nguyen","year":"2018","journal-title":"J. Frankl. Inst."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"1962","DOI":"10.1109\/TCST.2018.2842211","article-title":"Driver-Automation Cooperation Oriented Approach for Shared Control of Lane Keeping Assist Systems","volume":"27","author":"Sentouh","year":"2018","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"406","DOI":"10.1109\/TITS.2005.858622","article-title":"Power-steering control architecture for automatic driving","volume":"6","author":"Naranjo","year":"2005","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"2593","DOI":"10.1109\/TVT.2010.2045520","article-title":"Stabilizing vehicle lateral dynamics with considerations of parameter uncertainties and control saturation through robust yaw control","volume":"59","author":"Du","year":"2010","journal-title":"IEEE Trans. Veh. Technol."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"10693","DOI":"10.1109\/TIE.2019.2958308","article-title":"A model-free control strategy for vehicle lateral stability with adaptive dynamic programming","volume":"67","author":"Sun","year":"2019","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"83","DOI":"10.1109\/MCI.2019.2901089","article-title":"Reinforcement learning and deep learning based lateral control for autonomous driving [application notes]","volume":"14","author":"Li","year":"2019","journal-title":"IEEE Comput. Intell. Mag."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"228","DOI":"10.1109\/TIV.2018.2804173","article-title":"Lateral control of an autonomous vehicle","volume":"3","author":"Jiang","year":"2018","journal-title":"IEEE Trans. Intell. Veh."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"406","DOI":"10.1109\/TIV.2020.3033773","article-title":"Lateral control of an autonomous and connected vehicle with limited preview information","volume":"6","author":"Liu","year":"2020","journal-title":"IEEE Trans. Intell. Veh."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"489","DOI":"10.1109\/TVT.2015.2391184","article-title":"Vehicle Lateral Dynamics Control through AFS\/DYC and Robust Gain-Scheduling Approach","volume":"65","author":"Zhang","year":"2015","journal-title":"IEEE Trans. Veh. Technol."},{"unstructured":"Hwang, Y., Kang, C.M., and Kim, W. (2020). Robust Nonlinear Control Using Barrier Lyapunov Function Under Lateral Offset Error Constraint for Lateral Control of Autonomous Vehicles. IEEE Trans. Intell. Transp. Syst., 1\u20137.","key":"ref_15"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"699","DOI":"10.1109\/TIV.2021.3058064","article-title":"Stability Control of Autonomous Ground Vehicles Using Control-Dependent Barrier Functions","volume":"6","author":"Huang","year":"2021","journal-title":"IEEE Trans. Intell. Veh."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"3903","DOI":"10.1109\/TCYB.2020.2977175","article-title":"Observer-Based Adaptive Fuzzy Tracking Control for Strict-Feedback Nonlinear Systems With Unknown Control Gain Functions","volume":"50","author":"Tong","year":"2020","journal-title":"IEEE Trans. Cybern."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"810","DOI":"10.1109\/TCYB.2018.2874166","article-title":"Adaptive control of nonlinear semi-Markovian jump T\u2013S fuzzy systems with immeasurable premise variables via sliding mode observer","volume":"50","author":"Jiang","year":"2018","journal-title":"IEEE Trans. Cybern."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"93","DOI":"10.1016\/j.jmaa.2018.03.002","article-title":"Voltage control for uncertain stochastic nonlinear system with application to energy Internet: Non-fragile robust H \u221e approach","volume":"463","author":"Hua","year":"2018","journal-title":"J. Math. Anal. Appl."},{"key":"ref_20","first-page":"1302","article-title":"Energy sharing and frequency regulation in energy network via mixed H2\/H\u221e control with Markovian jump","volume":"7","author":"Hua","year":"2021","journal-title":"CSEE J. Power Energy Syst."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"1400","DOI":"10.1108\/EC-06-2018-0285","article-title":"Robust stabilization for discrete-time Takagi-Sugeno fuzzy system based on N4SID models","volume":"36","author":"Jemmali","year":"2019","journal-title":"Eng. Comput."},{"doi-asserted-by":"crossref","unstructured":"Rajamani, R. (2012). Vehicle Dynamics and Control, Springer.","key":"ref_22","DOI":"10.1007\/978-1-4614-1433-9"},{"doi-asserted-by":"crossref","unstructured":"Jiang, J., and Astolfi, A. (2018, January 12\u201315). Shared-Control for the Lateral Motion of Vehicles. Proceedings of the European Control Conference (ECC), Limassol, Cyprus.","key":"ref_23","DOI":"10.23919\/ECC.2018.8550429"},{"doi-asserted-by":"crossref","unstructured":"Boyd, S., El Ghaoui, L., Feron, E., and Balakrishnan, V. (1994). \u201cLinear matrix inequalities in system and control theory\u201d SIAM studies in applied and numerical mathematics. Society for Industrial and Applied Mathematics, SIAM.","key":"ref_24","DOI":"10.1137\/1.9781611970777"},{"doi-asserted-by":"crossref","unstructured":"Tanaka, K., Nishimura, M., and Wang, H.O. (1998, January 26). Multi-objective fuzzy control of high rise\/high speed elevators using LMIs. Proceedings of the 1998 American Control Conference, ACC, Philadelphia, PA, USA.","key":"ref_25","DOI":"10.1109\/ACC.1998.703237"},{"unstructured":"Nguyen, H.T., and Sugeno, M. (1988). Fuzzy Systems, Modelling and Control, Kluwer Academic Publisher.","key":"ref_26"},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"523","DOI":"10.1109\/91.873576","article-title":"New approaches to relaxed quadratic stability condition of fuzzy control systems","volume":"8","author":"Kim","year":"2000","journal-title":"IEEE Trans. Fuzzy Syst."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"250","DOI":"10.1109\/91.669023","article-title":"Fuzzy regulators and fuzzy observers: Relaxed stability conditions and LMI-based designs","volume":"6","author":"Tanaka","year":"1998","journal-title":"IEEE Trans. Fuzzy Syst."},{"unstructured":"Tanaka, K., and Wang, H.O. (2004). Fuzzy Control Systems Design and Analysis: A Linear Matrix Inequality Approach, Wiley, Wiley-Interscience.","key":"ref_29"}],"container-title":["Journal of Sensor and Actuator Networks"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2224-2708\/11\/1\/12\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T22:16:43Z","timestamp":1760134603000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2224-2708\/11\/1\/12"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,2,9]]},"references-count":29,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2022,3]]}},"alternative-id":["jsan11010012"],"URL":"https:\/\/doi.org\/10.3390\/jsan11010012","relation":{},"ISSN":["2224-2708"],"issn-type":[{"type":"electronic","value":"2224-2708"}],"subject":[],"published":{"date-parts":[[2022,2,9]]}}}