Fuzzy path tracking control for automatic steering of vehicles

被引：59
|
作者：
El Hajjaji, A [1 ]
Bentalba, S [1 ]
机构：
[1] Inst Univ Prof Amiens, Amiens, France
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2003年 / 43卷 / 04期
关键词：
path tracking; fuzzy logic controller; Takagi-Sugeno fuzzy model; vehicle dynamics;
D O I：
10.1016/S0921-8890(03)00003-4
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the path tracking (PT) control for automatic steering of vehicles is studied. The Takagi-Sugeno (T-S) fuzzy model of vehicle obtained from a nonlinear model is considered and a fuzzy controller is designed. The stability analysis is discussed using Lyapunov's approach combined with the linear matrix inequalities (LMI) approach. Finally, simulation results are given to demonstrate the controller's effectiveness. (C) 2003 Elsevier Science B.V. All rights reserved.
引用
收藏
页码：203 / 213
页数：11
相关论文
共 50 条
  • [1] A Fault-Tolerant Steering Control Design for Automatic Path Tracking in Autonomous Vehicles
    Fekih, Afef
    Devariste, Darlene
    2013 AMERICAN CONTROL CONFERENCE (ACC), 2013, : 5146 - 5151
  • [2] Geometric Path Planning and Tracking Control with Bounded Steering Angle for the Parking Problem of Automatic Vehicles
    Petrov, Plamen
    Georgieva, Veska
    PROCEEDINGS OF THE 44TH INTERNATIONAL CONFERENCE "APPLICATIONS OF MATHEMATICS IN ENGINEERING AND ECONOMICS", 2018, 2048
  • [3] A Novel Fuzzy Observer-Based Steering Control Approach for Path Tracking in Autonomous Vehicles
    Zhang, Changzhu
    Hu, Jinfei
    Qiu, Jianbin
    Yang, Weilin
    Sun, Hong
    Chen, Qijun
    IEEE TRANSACTIONS ON FUZZY SYSTEMS, 2019, 27 (02) : 278 - 290
  • [4] Review on Path Tracking Control of Unmanned Articulated Steering Vehicles
    Zhu Q.
    Cheng J.
    Chen X.
    Yang C.
    Gao Y.
    Shao G.
    Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery, 2024, 55 (01): : 1 - 21
  • [5] Path Tracking Control Method with Steering Lag for Autonomous Vehicles
    Lü Y.
    Qi X.
    Liu Q.
    Wang X.
    Chen G.
    Qiche Gongcheng/Automotive Engineering, 2023, 45 (12): : 2234 - 2241
  • [6] Path Tracking Control for Active Rear Steering Vehicles Considering Driver Steering Characteristics
    Zhang, Han
    Heng, Bo
    Zhao, Wanzhong
    IEEE ACCESS, 2020, 8 : 98009 - 98017
  • [7] A robust fuzzy PD controller for automatic steering control of autonomous vehicles
    Cai, L
    Rad, AB
    Chan, WL
    Cai, KY
    PROCEEDINGS OF THE 12TH IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1 AND 2, 2003, : 549 - 554
  • [8] Modeling and Path Tracking for Articulated Steering Vehicles
    Dou, Fengqian
    Liu, Wei
    Huang, Yanjun
    Liu, Li
    Meng, Yu
    2017 CHINESE AUTOMATION CONGRESS (CAC), 2017, : 5263 - 5268
  • [9] Automatic path tracking control of vehicles based on Lyapunov approach
    Zhang, JR
    Xu, SJ
    Rachid, A
    2001 IEEE INTELLIGENT TRANSPORTATION SYSTEMS - PROCEEDINGS, 2001, : 370 - 374
  • [10] A Novel Fuzzy Logic Switched MPC for Efficient Path Tracking of Articulated Steering Vehicles
    Chen, Xuanwei
    Cheng, Jiaqi
    Hu, Huosheng
    Shao, Guifang
    Gao, Yunlong
    Zhu, Qingyuan
    ROBOTICS, 2024, 13 (09)
12345