Fuzzy path tracking control for automatic steering of vehicles

被引：61
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
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