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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