Hierarchical fuzzy control design and stability analysis for steering-control based vehicles

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper discusses a model-free control design for a class of vehicle systems. A fuzzy logic steering control (FLSC) is designed for trajectory tracking of a wide class of vehicles. The FLSC system utilizes the hierarchical character of the system to reduce the rule base size, thus reducing its complexity. The stability analysis of this control system is addressed. The Lyapunov direct method is utilized to derive stability criteria to guarantee the convergence of the trajectory error, based on our proposed Lyapunov function. Satisfying the criteria guarantees the vehicle to converge to the desired linguistic zero error region. Simulations are given with a skid-steer and Ackermann vehicle model to demonstrate the FLSC’s capability to track the desired trajectory and converge to the linguistic zero error region. Our approach can be used for trajectory tracking problems on a wide range of vehicles. It enables straightforward tuning of the controller’s behavior.

Original languageEnglish (US)
Title of host publicationProceedings - 2019 4th International Conference on Automation, Control and Robotics Engineering, CACRE 2019
EditorsFumin Zhang
PublisherAssociation for Computing Machinery
ISBN (Electronic)9781450371865
DOIs
StatePublished - Jul 19 2019
Event4th International Conference on Automation, Control and Robotics Engineering, CACRE 2019 - Shenzhen, China
Duration: Jul 19 2019Jul 21 2019

Publication series

NameACM International Conference Proceeding Series

Conference

Conference4th International Conference on Automation, Control and Robotics Engineering, CACRE 2019
CountryChina
CityShenzhen
Period7/19/197/21/19

Keywords

  • Fuzzy control
  • Lyapunov stability
  • Trajectory tracking

ASJC Scopus subject areas

  • Software
  • Human-Computer Interaction
  • Computer Vision and Pattern Recognition
  • Computer Networks and Communications

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  • Cite this

    Xu, J., & Norris, W. R. (2019). Hierarchical fuzzy control design and stability analysis for steering-control based vehicles. In F. Zhang (Ed.), Proceedings - 2019 4th International Conference on Automation, Control and Robotics Engineering, CACRE 2019 [a40] (ACM International Conference Proceeding Series). Association for Computing Machinery. https://doi.org/10.1145/3351917.3351961