NDLI: Analysis of linguistic fuzzy control for curved-path-following autonomous vehicles

Content Provider	IEEE Xplore Digital Library
Author	Fung, Y.H. Tso, S.K.
Copyright Year	1998
Description	Author affiliation: Centre for Intelligent Design, Autom. & Manuf., City Univ. of Hong Kong, Hong Kong (Fung, Y.H.)
Abstract	Linear controllers perform well for straight-line path-following autonomous vehicles. For curved paths, significant large errors may result. These can be improved using two linguistic fuzzy-logic controllers (FLCs) even in the presence of inaccurate measurement of path curvature. One of the FLCs is used for accounting the path curvature. Using the linear-to-fuzzy algorithm, the synthesis of the linguistic FLCs is readily achieved. Also using the equivalent transformation algorithm, the stability analysis of the linguistic FLCs can be carried out based on a Lyapunov function which is obtained using the linear-matrix-inequality method. Experimental results are presented to illustrate the effectiveness of the proposed FLCs.
Starting Page	2506
Ending Page	2511
File Size	490134
Page Count	6
File Format	PDF
ISBN	078034300X
ISSN	10504729
DOI	10.1109/ROBOT.1998.680718
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-05-20
Publisher Place	Belgium
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fuzzy control Remotely operated vehicles Mobile robots Manufacturing automation Automatic control Stability analysis Mercury (metals) Intelligent vehicles Design automation Fuzzy logic
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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