Model reference adaptive fuzzy logic control for vehicle guidance

Author

Hessburg, Thomas ; Tomizuka, Masayoshi

Author_Institution

Dept. of Mech. Eng., California Univ., Berkeley, CA, USA

Volume

3

fYear

1995

fDate

21-23 Jun 1995

Firstpage

2287

Abstract

A formulation is made for a model reference adaptive fuzzy logic control (MRAFLC) algorithm for the automatic vehicle guidance problem. 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. Using Lyapunov theory, convergence between the actual output and the reference output is discussed as well as the state bounded stability. Advantages of using the MRAFLC in vehicle guidance, such as adapting the controller to changes in operating conditions, are shown by simulation results applying the MRAFLC to a full-sized automobile

Keywords

Lyapunov methods; adaptive control; automobiles; closed loop systems; fuzzy control; model reference adaptive control systems; stability; Lyapunov theory; automobile; closed-loop system; convergence; fuzzy logic control; model reference adaptive control; state bounded stability; vehicle guidance; Adaptive control; Automatic control; Automatic generation control; Control systems; Convergence; Fuzzy logic; Fuzzy systems; Navigation; Programmable control; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, Proceedings of the 1995

Conference_Location

Seattle, WA

Print_ISBN

0-7803-2445-5

Type

conf

DOI

10.1109/ACC.1995.531379

Filename

531379