IJPAM: Volume 59, No. 1 (2010)
VEHICLES WITH SIDE SKIDDING



Hirokazu Ohtagaki



6-15-1, Ginza, Chuo-ku, Tokyo, 104-8165, JAPAN
e-mail: keishi@scale-co.com

Okayama University of Science
1-1, Ridai-cho, Okayama, 700-0005, JAPAN




Okayama University
3-1-1, Tsushima-naka, Okayama, 700-8530, JAPAN
e-mail: inoue@suri.sys.okayama-u.ac.jp
Abstract.In this paper a novel fuzzy robust tracking controller for lateral vehicle
guidance is proposed. A non-linear model of the vehicle is
considered. The main feature of the proposed controller is that it consists of separate longitudinal
(speed) and lateral (steer angle) controllers which, compared to single
fuzzy controller designs, significantly reduces the complexity of the system.
The controller assures
robustness with respect to uncertainties in cornering forces and
externally applied disturbances. The proposed
controller can be applied to vehicles with understeer, oversteer and
neutral steering behavior, and to vehicles which steering behavior change.
Several simulation examples compare the proposed control scheme to some
existing controllers and illustrate its effectiveness.
Received: January 12, 2010
AMS Subject Classification: 93C42, 93C85, 70Q05
Key Words and Phrases: fuzzy control, robust control, vehicle stability control, mobile robots, nonlinear syslems
Source: International Journal of Pure and Applied Mathematics
ISSN: 1311-8080
Year: 2010
Volume: 59
Issue: 1