Design and Lyapunov Stability Analysis of a Fuzzy Logic Controller for Autonomous Road Following
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2010, Issue 2010 (31 Dec. 2010), pp.1-20, 20 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2010-04-21
Country of Publication
Egypt
No. of Pages
20
Main Subjects
Abstract EN
Autonomous road following is one of the major goals in intelligent vehicle applications.
The development of an autonomous road following embedded system for intelligent vehicles is the focus of this paper.
A fuzzy logic controller (FLC) is designed for vision-based autonomous road following.
The stability analysis of this control system is addressed.
Lyapunov's direct method is utilized to formulate a class of control laws that guarantee the convergence of the steering error.
Certain requirements for the control laws are presented for designers to choose a suitable rule base for the fuzzy controller in order to make the system stable.
Stability of the proposed fuzzy controller is guaranteed theoretically and also demonstrated by simulation studies and experiments.
Simulations using the model of the four degree of freedom nonholonomic robotic vehicle are conducted to investigate the performance of the fuzzy controller.
The proposed fuzzy controller can achieve the desired steering angle and make the robotic vehicle follow the road successfully.
Experiments show that the developed intelligent vehicle is able to follow a mocked road autonomously.
American Psychological Association (APA)
Fu, Yi& Li, Howard& Kaye, Mary. 2010. Design and Lyapunov Stability Analysis of a Fuzzy Logic Controller for Autonomous Road Following. Mathematical Problems in Engineering،Vol. 2010, no. 2010, pp.1-20.
https://search.emarefa.net/detail/BIM-482222
Modern Language Association (MLA)
Fu, Yi…[et al.]. Design and Lyapunov Stability Analysis of a Fuzzy Logic Controller for Autonomous Road Following. Mathematical Problems in Engineering No. 2010 (2010), pp.1-20.
https://search.emarefa.net/detail/BIM-482222
American Medical Association (AMA)
Fu, Yi& Li, Howard& Kaye, Mary. Design and Lyapunov Stability Analysis of a Fuzzy Logic Controller for Autonomous Road Following. Mathematical Problems in Engineering. 2010. Vol. 2010, no. 2010, pp.1-20.
https://search.emarefa.net/detail/BIM-482222
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-482222