Title :
Model reference adaptive fuzzy logic control for vehicle guidance
Author :
Hessburg, Thomas ; Tomizuka, Masayoshi
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Abstract :
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
Keywords :
Lyapunov methods; adaptive control; automobiles; closed loop systems; fuzzy control; model reference adaptive control systems; stability; Lyapunov theory; automobile; closed-loop system; convergence; fuzzy logic control; model reference adaptive control; state bounded stability; vehicle guidance; Adaptive control; Automatic control; Automatic generation control; Control systems; Convergence; Fuzzy logic; Fuzzy systems; Navigation; Programmable control; Vehicles;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.531379
