Title :
Using DHP adaptive critic methods to tune a fuzzy automobile steering controller
Author :
Schultz, Larry J. ; Shannon, Thaddeus T. ; Lendaris, George G.
Author_Institution :
Dept. of Electr. Eng., Portland State Univ., OR, USA
Abstract :
The approximate dynamic programming method known as dual heuristic programming (DHP) is applied to the design of a fuzzy controller for a 4-wheel, 2-axle vehicle. This controller is designed to guide an autonomous automobile on a curved road while maintaining lateral acceleration at comfortable levels
Keywords :
automobiles; controllers; fuzzy control; heuristic programming; optimal control; 2-axle vehicle; approximate dynamic programming; autonomous automobile; dual heuristic programming adaptive critic methods; fuzzy automobile steering controller; fuzzy controller; Adaptive control; Automobiles; Cost function; Dynamic programming; Equations; Fuzzy control; Optimal control; Programmable control; Roads; Vectors;
Conference_Titel :
IFSA World Congress and 20th NAFIPS International Conference, 2001. Joint 9th
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-7078-3
DOI :
10.1109/NAFIPS.2001.944313
