A robust fuzzy PD controller for automatic steering control of autonomous vehicles

Lin Cai, A. B. Rad, Wai Lok Chan, Kai Yuan Cai

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

48 Citations (Scopus)


In this paper, we design an intelligent and robust stable fuzzy proportional-derivative (PD) controller for lateral control of passenger cars. An additional lateral displacement sensor is added at the tail bumper instead of gyro sensor in order to measure the yaw rate. First, a genetic-algorithm (GA)-based fuzzy PD controller is proposed to combine heuristics and optimization. Then, the fuzzy control system is transformed into a Lur'E system with uncertainties. The Lyapunov's direct method is used to guarantee the stability of the perturbed Lur'E system, and then a robustness measurement that gives the bound of the uncertainties is derived. The performance of the proposed controller is compared with a conventional PD controller through simulation studies. Experimental studies on a small-scale vehicle are also reported.
Original languageEnglish
Title of host publicationIEEE International Conference on Fuzzy Systems
Number of pages6
Publication statusPublished - 11 Jul 2003
EventThe IEEE International conference on Fuzzy Systems - St. Louis, MO, United States
Duration: 25 May 200328 May 2003


ConferenceThe IEEE International conference on Fuzzy Systems
Country/TerritoryUnited States
CitySt. Louis, MO

ASJC Scopus subject areas

  • Software
  • Theoretical Computer Science
  • Artificial Intelligence
  • Applied Mathematics


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