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Chinese Journal of Mechanical Engineering

Table 2 Parameters of H∞ controller of local subsystems

From: Parallel Distributed Compensation /H∞ Control of Lane-keeping System Based on the Takagi-Sugeno Fuzzy Model

Controller parameters

Vehicle speed vx (km/h)

55

70

85

100

115

k1

− 0.0331

− 0.0675

− 0.0760

− 0.1123

− 0.1235

k2

0.1668

0.2355

0.3025

0.3265

0.3465

k3

− 1.0814

− 1.1629

− 1.2369

− 1.3265

− 1.4235

k4

2.6905

2.9868

3.2957

3.3495

3.6905

k5

0.0457

0.0584

0.0628

0.0826

0.1623

k6

0.0002

0.0004

0.0007

0.0015

0.0025

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