Robust sliding mode observer for automatic steering of vehicles

Zhang, J.R.; Xu, Sun; Rachid, A.

doi:10.1109/itsc.2000.881023

Cited by 11 publications

(2 citation statements)

References 21 publications

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“…Lots of solutions for lateral control have been proposed in [1,2,3,4]. A comparison among PID, Hinfinity, Adaptive and Fuzzy Control was carried out in [2].…”

Section: Introductionmentioning

confidence: 99%

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An Expert Fuzzy Controller for Vehicle Lateral Control

Yang

Zheng

2007

IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society

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Vehicle lateral control is a challenging problem in areas of Intelligent Transportation Systems (ITS) and automatic control for autonomous vehicles. Most of solutions for lateral control proposed, such as PID, simple fuzzy logic control and Hinfinity, are proved accurate and effective only in simple driving task, such as lane changing, lane following and small curvature crossing turning action. For big curvature crossing turning action, the solutions mentioned above haven't dealt with. In this paper, we propose an expert fuzzy controller, which is based on a 2 Degree of Freedom (2DOF) vehicle lateral dynamic model, to solve the problem both in simple driving task and big curvature crossing turning action. The traditional 2DOF analytic model is used in lane changing, lane following and small curvature crossing turning actions, while an experimental model is used in big curvature crossing turning. That is because the traditional 2DOF analytic model is set up based on the hypothesis that the steering angle of front wheel is small. The experimental model is proved accurate and effective in the realistic driving experiments.In addition, it is proved that the expert fuzzy controller is effective to solve the lateral control problem in complicated driving tasks, such as lane changing, lane following, small and big curvature crossing turning actions, in both simulations and experiments.

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“…Lots of solutions for lateral control have been proposed in [1,2,3,4]. A comparison among PID, Hinfinity, Adaptive and Fuzzy Control was carried out in [2].…”

Section: Introductionmentioning

confidence: 99%

“…Mostly, the controller design for the lateral control is based on the traditional 2DOF analytic model in [2,3]. However, there are many hypotheses while using traditional 2DOF analytic model, such as a small steering angle of front wheel 8,f .…”

Section: Introductionmentioning

confidence: 99%