IJPAM: Volume 59, No. 1 (2010)


Keishi Shibayama$^1$, Valeri Kroumov$^2$, Akira Inoue$^3$
Hirokazu Ohtagaki$^4$, Munaru Kawamura$^5$
$^1$Electric Power Development Co., Ltd.
6-15-1, Ginza, Chuo-ku, Tokyo, 104-8165, JAPAN
e-mail: keishi@scale-co.com
$^{2,4,5}$Department of Electrical and Electronic Engineering
Okayama University of Science
1-1, Ridai-cho, Okayama, 700-0005, JAPAN
$^2$e-mail: val@ee.ous.ac.jp
$^4$e-mail: ohtagaki@ee.ous.ac.jp
$^5$e-mail: minaru@ee.ous.ac.jp
$^3$Graduate School of Natural Science and Technology
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