Fuzzy Path Tracking Control of a Vehicle
نویسندگان
چکیده
This paper deals with the Path Following (PF) problem of a car. A unified kinematics model is derived for this problem. The mobile target configuration is represented by the motion of a reference car which has the same kinematics constrains as the real one. The generated kinematics model is added to the car dynamics one in order to obtain a general state representation for the PF problem. Firstly, this problem is solved by means of a state feedback control law, then by a fuzzy control one. The stability analysis of the fuzzy control system of the vehicle dynamics is discussed using Lyapunov's approach and convex optimization techniques based on Linear Matrix Inequalities (LMI). Finally, simulation results are given to demonstrate the controller's effectiveness.
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