The main objectives of vehicle motion control on an automated highway system are stable and safe automatic longitudinal and/or lateral path following in a platoon of vehicles. Various controllers can be used to satisfy the same objectives, but they may require different variables to be sensed or different conditions to be met. Supervision can select a controller and switch to a different contro...

In this study, a real-time control of the cart-pole inverted pendulum system was developed using fuzzy logic controller. Swing-up and stabilization of the inverted pendulum were implemented directly in fuzzy logic controller. The fuzzy logic controller designed in the Matlab-Simulink environment was embedded in a dSPACE DS1103 DSP controller board. Swing-up algorithm brings the pendulum near to...

This article is devoted to the design of a fuzzy-observer-based control for a class of nonlinear systems with bilinear terms. The class of systems considered is the Takagi-Sugeno (T-S) fuzzy bilinear model. A new procedure to design the observer-based fuzzy controller for this class of systems is proposed. The aim is to design the fuzzy controller and the fuzzy observer of the augmented system ...

Fuzzy PID controllers have been developed and applied to many fields for over a period of 30 years. However, there is no systematic method to design membership functions (MFs) for inputs and outputs of a fuzzy system. Then optimizing the MFs is considered as a system identification problem for a nonlinear dynamic system which makes control challenges. This paper presents a novel online method u...

This paper aims to develop robust adaptive fuzzy control techniques to improve tracking performance, where both the tracking error and the modeling error are utilized to adjust system parameters. A hybrid adaptive control scheme including a H∞ compensator is proposed which makes the tracking performance faster and more reliable. Performance analysis is given by using Lyapunov theory. In our pro...

Stability analysis for fuzzy control of robot manipulators has been a serious challenging problem in literature. The theoretical difficulties are highly increased due to the complexity of both manipulator dynamics and fuzzy controller structure. This paper develops a novel robust fuzzy control approach for electrical robot manipulators using the direct method of Lyapunov. We pass analytical dif...

The main purpose of this paper is to analyze the robust stability for a fuzzy vehicle steering control system. In general, fuzzy control system is a nonlinear control system. Therefore, the fuzzy controller may be linearized by the use of describing function first. After then, parameter plane method is then applied to determine the conditions of robust stability when the system has perturbed or...

In this paper a fuzzy levitation controller for a one degree of freedom maglev application is designed and its performance is compared with the performance of a state controller. The comparison is based on both simulation and measurement results. The maglev application is a levitation/propulsion head of an autonomous transportation vehicle with a nominal air gap value of 2.5 mm. First a nonline...

This paper presents the optimal fuzzy controller design for load frequency control (LFC) of two area power system using Adaptive Particle Swarm Optimization (APSO). Firstly, the controller is designed according to Fuzzy Logic rules such that the systems are fundamentally robust. Secondly, the Fuzzy Logic controller (FLC) used earlier was optimized with PSO so as to obtain optimal adjustment of ...

This paper discusses the performance and the impact of disturbances onto a proposed hybrid fuzzy-fuzzy controller (HFFC) system to attain speed control of a variable speed induction motor (IM) drive. Notably, to design a scalar controller, the two fea‐ tures of field-oriented control (FOC), i.e., the frequency and current, are employed. Specifically, the features of fuzzy frequency and fuzzy cu...