Analysis of linguistic fuzzy control for curved-path-following autonomous vehicles

Linear controllers perform well for straight-line path-following autonomous vehicles. For curved paths, significant large errors may result. These can be improved using two linguistic fuzzy-logic controllers (FLCs) even in the presence of inaccurate measurement of path curvature. One of the FLCs is used for accounting the path curvature. Using the linear-to-fuzzy algorithm, the synthesis of the linguistic FLCs is readily achieved. Also using the equivalent transformation algorithm, the stability analysis of the linguistic FLCs can be carried out based on a Lyapunov function which is obtained using the linear-matrix-inequality method. Experimental results are presented to illustrate the effectiveness of the proposed FLCs