T-S Fuzzy Model-based Integral Sliding Mode Path Tracking Controller Design for Racing Cars With Input Saturation

This paper presents a Takagi-Sugeno (T-S) fuzzy model-based integral sliding mode control approach for autonomous racing vehicles with input saturation. The path tracking error dynamics, incorporating parametric uncertainties and actuator faults, are modeled using a T-S fuzzy framework. Stability of the sliding motion under input saturation is ensured through sufficient conditions formulated as linear matrix inequalities (LMIs), where nonlinear input saturation is represented as a convex combination of linear state feedback controllers. A reachability condition for the proposed sliding surface is also established. Finally, simulation examples are provided to demonstrate the robustness and effectiveness of the proposed control scheme, where its tracking performance is compared with that of an existing method.