Stability of interval type-3 fuzzy controllers for autonomous vehicles
บทความในวารสาร
ผู้เขียน/บรรณาธิการ
กลุ่มสาขาการวิจัยเชิงกลยุทธ์
รายละเอียดสำหรับงานพิมพ์
รายชื่อผู้แต่ง: Tian M.-W., Yan S.-R., Mohammadzadeh A., Tavoosi J., Mobayen S., Safdar R., Assawinchaichote W., Vu M.T., Zhilenkov A.
ผู้เผยแพร่: MDPI
ปีที่เผยแพร่ (ค.ศ.): 2021
Volume number: 9
Issue number: 21
นอก: 22277390
eISSN: 2227-7390
ภาษา: English-Great Britain (EN-GB)
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บทคัดย่อ
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. © 2021 by the authors. Licensee MDPI, Basel, Switzerland.
คำสำคัญ
Autonomous vehicles, Fuzzy system, Path-following
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