In this paper a fuzzy robust tracking controller for lateral vehicle guidance is proposed. It is assumed that the vehicle model is unknown. The proposed controller consists of separate longitudinal (speed) and lateral (steer angle) controllers which significantly reduces complexity of the system, compared to single fuzzy controller designs. The controller design is based on the Lyapunov stability approach and guarantees the overall system stability and robustness. The methodology for choosing and adjusting the fuzzy rules is very simple and effective and can be employed for fuzzy controller designs in other fi elds. It assures robustness with respect to uncertainties in cornering forces and externally applied disturbances. The proposed controller can be applied to vehicles with neutral, under- or oversteered behavior. Several simulation examples compare the proposed control scheme to some existing controllers and illustrate its effectiveness.
Fuzzy tracking control for lateral vehicle guidance
Fuzzy-Folgeregelung für die Fahrzeug-Querregelung
2007
7 Seiten, 14 Quellen
Aufsatz (Konferenz)
Englisch
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