By Topic

A T-S fuzzy logic design to lateral control of autonomous vehicle

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Hongming Shen ; Sch. of Electron. & Inf., Nantong Univ., Nantong, China ; Wanjun Wang

Lateral control of autonomous vehicle is investigated. The vehicle lateral dynamics is described with the previously researched state space model in terms of position and orientation error with respect to the road, and approximated by a Tanagi-Sugeno (T-S) fuzzy model with time-varying parameters. The system is stabilized by an optimal fuzzy state feedback compensator based on the parallel distributed compensation (PDC) framework. The close-loop stability conditions of the lateral motion system with the fuzzy controller are parameterized in terms of the linear matrix inequality (LMI) problem. A servo compensator is introduced to enhance the tracking ability on curve road. Simulations using the proposed robust fuzzy controller have been carried out for the lateral motion system. The simulation results show that the vehicle with controller can follow the reference lane with good performance and robustness.

Published in:

Mechanic Automation and Control Engineering (MACE), 2010 International Conference on

Date of Conference:

26-28 June 2010