PID, adaptive and fuzzy controls for the immaterial lateral guidance of a bus in boarding phase

The introduction of low floor buses, which are at the same level as the bus stop platform, onto urban transport networks has solved several problems of users access. For a good accessibility, in particular for persons with a reduced mobility, the bus must get the nearest possible to the edge of the platform. In order to repeat this manoeuvre accurately it would be possible to use automatic guidance techniques during the docking phase from forty metres upstream of the stop bus station. This paper presents some tests of different laws of controls: PID control, adaptive control and fuzzy control