A Genetic Fuzzy Controller for Vehicle Automatic Steering Control

In this paper, the authors present the design and experimental implementation of a genetic fuzzy controller. The controller is intended for the automatic steering control system of a small-scaled vehicle. System identification is used to derive a dynamic model of the scaled vehicle, and it is shown that the model exhibits characteristics similar to that of a full-sized vehicle. Genetic algorithms are then used to design and optimize a stable fuzzy proportional-derivative controller. The effectives and robustness of the proposed controller is demonstrated through experimental results. Performance of the fuzzy controller is compared to that of a conventional proportional derivative (PD) controller, and the genetic fuzzy controller is shown to outperform the PD controller, especially in regard to robustness.

• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/00189545
• Authors:
  • Cai, Lin
  • Rad, A B
  • Chan, Wai-Lok
• Publication Date: 2007-3

Language

• English

Media Info

• Media Type: Print
• Features: Figures; References; Tables;
• Pagination: pp 529-543
• Serial:
  • IEEE Transactions on Vehicular Technology
  • Volume: 56
  • Issue Number: 2
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 0018-9545
  • Serial URL: http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=25

Subject/Index Terms

• TRT Terms: Automatic steering control; Fuzzy controllers; Genetic algorithms; Mathematical models; Scale models
• Subject Areas: Bridges and other structures; Highways; Vehicles and Equipment; I91: Vehicle Design and Safety;

Filing Info

• Accession Number: 01044942
• Record Type: Publication
• Source Agency: UC Berkeley Transportation Library
• Files: BTRIS, TRIS
• Created Date: Mar 28 2007 2:39PM