Model reference adaptive fuzzy logic control for vehicle guidance

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.