A model reference adaptive fuzzy logic controller (MRAFLC) is designed and simulated for a full-sized test vehicle to achieve control of the lateral motion of the vehicle. The structure of the FLC is modularized as a feedback and preview rule base. The parameters of the FLC are tuned automatically using the MRAFLC adaptive tuning scheme. The goal is to make the output of the closed-loop system, under fuzzy logic control, follow a reference output, generated by a fuzzy system. The first step is to define the FLC in a form that enables it to be adjusted on-line. Using Lyapunov theory a supervisory control term is constructed such that the closed-loop system under fuzzy logic control will maintain stability in the sense that the states of the vehicle are bounded by a maximum value prescribed by the control designer. An additional Lyapunov analysis is performed to place sufficient conditions on the stability of the adaptation law, ensuring that the output error term converges to a lower bound.


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    Title :

    An adaptation method for fuzzy logic controllers in lateral vehicle guidance


    Additional title:

    Ein adaptives Verfahren für Fuzzy-Logik-Regler bei der lateralen Fahrzeugführung


    Contributors:
    Hessburg, T. (author) / Tomizuka, M. (author)

    Published in:

    Mechatronics ; 5 , 8 ; 873-898


    Publication date :

    1995


    Size :

    26 Seiten, 17 Bilder, 22 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    Fuzzy Logic Control for Lateral Vehicle Guidance

    Hessburg, T. / Tomizuka, M. | British Library Online Contents | 1994


    Fuzzy logic control for lateral vehicle guidance

    Hessburg, T. / Tomizuka, M. | Tema Archive | 1994



    Model-based adaptive fuzzy logic controller design for lateral vehicle guidance

    Kim,J.H. / Bien,Z. / KAIST,KR | Automotive engineering | 1996


    Lateral guidance of an autonomous vehicle by a fuzzy logic controller

    Zalila, Z. / Bonnay, F. / Coffin, F. | Tema Archive | 1998