Global stability analysis of fuzzy path tracking using frequency response

被引：16

作者：

Aracil, J ^{[1
]}

Heredia, G ^{[1
]}

Ollero, A ^{[1
]}

机构：

[1] Univ Seville, Escuela Super Ingenieros, Dept Ingn Sistemas & Automat, Seville 41092, Spain

来源：

ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE | 2000年 / 13卷 / 02期

关键词：

stability analysis; frequency response methods; fuzzy-logic control; nonlinear systems; path tracking;

D O I：

10.1016/S0952-1976(99)00054-8

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper studies the stability of fuzzy path tracking of autonomous vehicles. This problem lies in the generation of the steering commands for a vehicle to follow a given path autonomously. In this control loop, both the plant and the fuzzy controller are nonlinear. Due to this nonlinearity, complex behavioral phenomena can occur, giving rise to the loss of global stability. The extension of conventional frequency response methods for the stability analysis of the nonlinear fuzzy path-tracking control loop is proposed. Simulation experiments show the validity of the proposed method in three different cases: stable origin and unstable limit cycle, delay-induced Hopf bifurcation, and delay-induced unstable limit cycle. (C) 2000 Elsevier Science Ltd. All rights reserved.

引用

页码：109 / 119

页数：11

共 23 条

[1] Aracil J., 1998, Preprints of the 4th IFAC Nonlinear Control Systems Design Symposium 1998. NOLCOS '98, P35
[2] STABILITY INDEXES FOR THE GLOBAL ANALYSIS OF EXPERT CONTROL-SYSTEMS
ARACIL, J
OLLERO, A
GARCIACEREZO, A
[J]. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS, 1989, 19 (05): : 998 - 1007
[3] ARACIL J, 1998, ADV FUZZY CONTROL, P11
[4] Cook P.A., 1994, NONLINEAR DYNAMICAL, V2nd
[5] Driankov D., 1993, INTRO FUZZY CONTROL
[6] GALICHET S, 1995, IEEE T FUZZY SYST, V3, P2
[7] Design of a robust high-performance fuzzy path tracker for autonomous vehicles
GarciaCerezo, A
Ollero, A
Martinez, JL
[J]. INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 1996, 27 (08) : 799 - 806
[8] GARCIACEREZO A, 1997, 6 IEEE INT C FUZZ SY
[9] Gordillo F, 1997, PROCEEDINGS OF THE SIXTH IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS I - III, P193, DOI 10.1109/FUZZY.1997.616367
[10] HALE J. K., 2013, Introduction to functional differential equations

← 1 2 3 →