Title :
Steering and speed control of a car by fuzzy-neural control
Author :
Mori, Yasuchika ; Nyudo, Shin ; Itoh, Kunio
Author_Institution :
Dept. of Mech. Eng., Nat. Defense Acad., Yokosuka, Japan
Abstract :
This paper is concerned with driving a car whose control variables are steering and speed. The steering actuator is a stepping motor and the speed actuator is a DC motor. These motors are driven by fuzzy control. The suitable fuzzy control gains for a straight road are different from ones for a curved road. Thus, a neural network is used to judge the grade of a curve in the road. Fuzzy control gains are changed adaptively based on the output of the neural network. The effectiveness of this architecture is demonstrated by experimental tests.
Keywords :
DC motors; automobiles; fuzzy control; neurocontrollers; stepping motors; velocity control; DC motor; car; curved road; fuzzy-neural control; speed control; steering; stepping motor; straight road; Actuators; Brightness; Electric variables control; Friction; Fuzzy control; Mathematical model; Mechanical variables control; Neural networks; Roads; Velocity control;
Conference_Titel :
Neural Networks, 1993. IJCNN '93-Nagoya. Proceedings of 1993 International Joint Conference on
Print_ISBN :
0-7803-1421-2
DOI :
10.1109/IJCNN.1993.716992
