• DocumentCode
    3465467
  • Title

    H∞, adaptive, PID and fuzzy control: a comparison of controllers for vehicle lane keeping

  • Author

    Chaib, Salim ; Netto, Mariana S. ; Mammar, Said

  • Author_Institution
    INRETS, Versailles, France
  • fYear
    2004
  • fDate
    14-17 June 2004
  • Firstpage
    139
  • Lastpage
    144
  • Abstract
    We provide, in this paper an overview as well as a comparison of four controllers for the vehicle lateral control problem. H∞, adaptive, fuzzy and PID controllers are compared by simulations over a test track circuit. Curvature and wind perturbations as well as variations on the speed and on the adherence coefficient are introduced in the simulations.
  • Keywords
    H∞ control; adaptive control; feedback; fuzzy control; perturbation techniques; three-term control; vehicles; H∞ controller; PID controller; adaptive controller; adherence coefficient; curvature perturbation; fuzzy controller; output feedback; test track circuit; vehicle lane keeping controller; vehicle lateral control problem; wind perturbation; Adaptive control; Control systems; Fuzzy control; Open loop systems; Programmable control; Roads; Shape control; Three-term control; Vehicles; Weight control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Vehicles Symposium, 2004 IEEE
  • Print_ISBN
    0-7803-8310-9
  • Type

    conf

  • DOI
    10.1109/IVS.2004.1336370
  • Filename
    1336370
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3465467