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                <term xml:lang="en">Vehicle lateral dynamic control</term>
                <term xml:lang="en">Takagi-Sugeno (T-S) model</term>
                <term xml:lang="en">Static output feedback control (SOF)</term>
                <term xml:lang="en">Non-quadratic fuzzy Lyapunov function</term>
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              <p>This chapter presents a robust nonlinear H∞ Static Output Feedback control (SOF) design for steering control of the autonomous vehicle under actuator saturation, external disturbances, and taking into account the unavailability of the sideslip angle. The Takagi-Sugeno (T-S) approach is used to model both the lateral and lane keeping dynamics of autonomous vehicles. Based on the non-quadratic Lyapunov approach, a static output Feedback controller based on non-compensation parallel distributed technic the H∞ stabilization conditions without saturation are developed. Then, a polytopic representation of the actuator saturation is investigated to express the robust non-qudratiquc stabilisation conditions of Vehicle lateral dynamic control with input constraints in term of LMIs. Finally, the simulation results show that the proposed controllers can stabilize the closed-loop system and present great lane-keeping and external disturbance rejection performances.</p>
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