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:
  • Authors:
    • Cai, Lin
    • Rad, A B
    • Chan, Wai-Lok
  • Publication Date: 2007-3

Language

  • English

Media Info

Subject/Index Terms

Filing Info

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