H∞ adaptive variable universe fuzzy control for autonomous vehicles

In the paper, an attempt is made to create the bridge between two important design techniques, i.e., H-infinity control design and fuzzy control design, so as to supply H-infinity control design with more intelligence and fuzzy control design with better robust performance. By Lyapunov method, the overall closed-loop system is shown to be stable. In the conventional adaptive fuzzy control system, the approximate error is not eliminated completely, so the accuracy of control is limited. In the study, the effect of both fuzzy logic approximate error and external disturbance on the tracking error is attenuated to a prescribed lever by adequately selecting the weight factor. The simulation results of lateral control of autonomy vehicle are given to confirm the control algorithm is feasible for practical application.