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.
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Availability:
- Find a library where document is available. Order URL: http://worldcat.org/issn/00189545
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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
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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