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

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

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 proceeding › Conference article published in proceeding or book › Academic research › peer-review

46 Citations (Scopus)

Abstract

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 language	English
Title of host publication	IEEE International Conference on Fuzzy Systems
Pages	549-554
Number of pages	6
Publication status	Published - 11 Jul 2003
Event	The IEEE International conference on Fuzzy Systems - St. Louis, MO, United States Duration: 25 May 2003 → 28 May 2003

Conference

Conference	The IEEE International conference on Fuzzy Systems
Country/Territory	United States
City	St. Louis, MO
Period	25/05/03 → 28/05/03

ASJC Scopus subject areas

Software
Theoretical Computer Science
Artificial Intelligence
Applied Mathematics

Cite this

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title = "A robust fuzzy PD controller for automatic steering control of autonomous vehicles",

abstract = "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.",

author = "Lin Cai and Rad, {A. B.} and Chan, {Wai Lok} and Cai, {Kai Yuan}",

year = "2003",

month = jul,

day = "11",

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AU - Cai, Lin

AU - Rad, A. B.

AU - Chan, Wai Lok

AU - Cai, Kai Yuan

PY - 2003/7/11

Y1 - 2003/7/11

N2 - 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.

AB - 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.

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M3 - Conference article published in proceeding or book

SP - 549

EP - 554

BT - IEEE International Conference on Fuzzy Systems

T2 - The IEEE International conference on Fuzzy Systems

Y2 - 25 May 2003 through 28 May 2003

ER -

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

Abstract

Conference

ASJC Scopus subject areas

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