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Table 5 Results of lateral deviation and performance index

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

Evaluation H control H control based on T-S model composite control
Deviation peak (m) 0.332 0.218 0.183
Deviation square root 0.0338 0.02496 0.02115
|G(s)| 41.42 29.79 23.84