Abstract
Economic efficient Autonomous Road Vehicles (ARVs) are invariably subjected to uncertainties and perturbations. Therefore, control of vehicle systems requires stability to withstand the effect of variations in the nominal performance. Lateral path-tracking is a substantial task of ARVs, especially in critical maneuvering and cornering with variable speed. In this study, a new controller on the basis of interval type-3 (T3) fuzzy logic system (FLSs) is designed. The main novelties and advantages are as follows. (1) The uncertainty is a main challenge in the path-following problem of ARVs. However, in the fuzzy-based approaches, the bounds of uncertainty are assumed to be known. However, in the our suggested approach, the bounds of uncertainties are also fuzzy sets and type-3 FLSs with online adaptation rules are suggested to handle the uncertainties. (2) The approximation errors (AEs) and perturbations are investigated and tackled by the compensators. (3) The bounds of estimation errors are also uncertain and are estimated by the suggested adaptation laws. (4) The stability is ensured under unknown dynamics, perturbations and critical maneuvers. (5) Comparison with the benchmarking techniques and conventional fuzzy approaches verifies that the suggested path-following scheme results in better maneuver performance.
Highlights
New technologies are surrounding the lives of many people in the world day by day
In [15], a fault-tolerant controller is developed by the use of H∞ criteria, and the stability is analyzed under actuator faults
In [16], the problem of obstacle avoidance is taken into account, and a path-following scheme is designed by the predictive control approach
Summary
New technologies are surrounding the lives of many people in the world day by day. the global automotive industry is trying to keep pace with the latest technology in the world and surpass its competitors. The path-following problem of ARVs is a challengeable control problem, because of various dynamic perturbations such as variation of longitudinal speed, smoothness and roughness of road, road adhesion, critical maneuver and so on [5]. This problem has got a remarkable attention and some controllers have been designed. The estimation of unmeasurable states of ARV is studied in [7] and an observer-based scheme is designed for path-following. In [33], a FLS-based path-following approach is constructed, and the stability is analyzed in the presence of various disturbances. FLS-based controllers show that the designed scheme well improves the maneuver quality
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