Abstract
A model reference adaptive fuzzy logic controller (MRAFLC) is designed and simulated for a full-sized test vehicle to achieve control of the lateral motion of the vehicle. The structure of the FLC is modularized as a feedback and preview rule base. The parameters of the FLC are tuned automatically using the MRAFLC adaptive tuning scheme. The goal is to make the output of the closed-loop system, under fuzzy logic control, follow a reference output, generated by a fuzzy system. The first step is to define the FLC in a form that enables it to be adjusted on-line. Using Lyapunov theory a supervisory control term is constructed such that the closed-loop system under fuzzy logic control will maintain stability in the sense that the states of the vehicle are bounded by a maximum value prescribed by the control designer. An additional Lyapunov analysis is performed to place sufficient conditions on the stability of the adaptation law, ensuring that the output error term converges to a lower bound.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
