Vehicles dynamic control, using fuzzy logic

Authors:
Marian Petrescu;Gheorghe Livint;Dumitru Lucache
Affiliations:
Department of Utilizations, Electrical Drivers and Industrial Automation, "Gh. Asachi" Technical University, Iasi, Romania;Department of Utilizations, Electrical Drivers and Industrial Automation, "Gh. Asachi" Technical University, Iasi, Romania;Department of Utilizations, Electrical Drivers and Industrial Automation, "Gh. Asachi" Technical University, Iasi, Romania
Venue:
ICAI'08 Proceedings of the 9th WSEAS International Conference on International Conference on Automation and Information
Year:
2008

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Abstract

This paper presents a fuzzy control structure for an autonomous vehicle steering system. The vehicle nonlinear mathematical model is replaced by some local linear systems that are defined around of the given operation points, and the reunion of the linear models determines a Takagi Sugeno fuzzy model. A state negative feedback has been used for every local linear system and a Takagi-Sugeno type controller has been synthesized for a set of local linear models. Finally, the behavior of the vehicle dynamic control with the Takagi-Sugeno controller has been analyzed by simulation in Matlab environment by changing the stiffness coefficients.