Fuzzy path tracking control for automatic steering of vehicles.pdf

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1、RoboticsandAutonomousSystems43(2003)203213FuzzypathtrackingcontrolforautomaticsteeringofvehiclesA.ElHajjaji∗,S.BentalbaCentredeRecherchedeRobotique,dElectrotechniqueetdAutomatique,7,RueduMoulinNeuf,80000Amiens,FranceReceived22January2001;receivedinrevi

2、sedform14October2002CommunicatedbyF.C.A.GroenAbstractInthispaper,thepathtracking(PT)controlforautomaticsteeringofvehiclesisstudied.TheTakagiSugeno(TS)fuzzymodelofvehicleobtainedfromanonlinearmodelisconsideredandafuzzycontrollerisdesigned.Thestabilityan

3、alysisisdiscussedusingLyapunovsapproachcombinedwiththelinearmatrixinequalities(LMI)approach.Finally,simulationresultsaregiventodemonstratethecontrollerseffectiveness.©2003ElsevierScienceB.V.Allrightsreserved.Keywords:Pathtracking;Fuzzylogiccontroller;T

4、akagiSugenofuzzymodel;Vehicledynamics1.IntroductionRecently,fuzzycontrolhasbecomeapopularresearchincontrolengineering.Thefuzzylogiccontrollerhasmadeitselfavailablenotonlyinthelaboratoryworkbutalsoinindustrialapplications[111].Inrecentyears,theoreticald

5、evelopmentsoffuzzycontrolhavebeenproposed,andtheconstructionsandtheuseoffuzzycontrollershavebeenexplored[1218,20,22].Theseworksareessentiallybasedonafuzzymodeloftheprocess[19]andonLyapunovstabilitytodesignthefuzzycontrollaw.Oneimportantapplicationoffuz

6、zycontrolisinvehicles:maritime,spaceandgroundvehicles.In[1],Waneckproposedafuzzycontrollerforanautonomousboatwithoutinitiallyhavingtodevelopanonlineardynamicsmodelofavehicle.Sugenoetal.[2,3]hasdesignedafuzzycontrollerbasedonfuzzymodelingofahumanoperato

7、rscontrolactionstonavigateandtoparkacar.Larkin[4]hasproposedafuzzycontrollerforaircraftflightcontrolwherethefuzzyrulesaregeneratedbyinterrogatinganexperiencedpilotandaskinghimanumberofhighlystructuredquestions.In[5],theauthorshavedesignedanautopilotfors

8、hipsbytranslatingthesteeringbehaviorofahumancontrollerintoafuzzymathematicalmodel.In[6],afuzzycontrolthatusesrulesonaskilledhumanoperatorsexperienceisappliedtoautomatictrainoperations.NguyenandWidow[7]havedevelopedaneuralnetworkcontroll