Robust Output-Feedback Fuzzy Control for Autonomous Bus–Trailers with Input and Output Constraints

This paper presents a robust output-feedback fuzzy control scheme for autonomous bus–trailer systems, which can be formulated as a multi-input multi-output system. To ensure driving safety, the proposed design explicitly accounts for both input and output constraints. A core feature of this approach is the utilization of exponential dissipativity, which not only attenuates external disturbances but also serves as a unified framework encompassing exponential passivity and H∞ performance through the adjustment of weighting matrices. Additionally, a tunable decay rate is introduced to improve transient response characteristics. Recognizing that full state information is rarely available in practical scenarios, an observer is integrated to estimate unmeasurable state variables. Finally, the effectiveness and feasibility of the proposed control scheme are validated under various driving conditions through Simulink/dSPACE co-simulation.