Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/29181
Title: A genetic fuzzy controller for vehicle automatic steering control
Authors: Cai, L
Rad, AB
Chan, WL 
Keywords: Automatic steering
Genetic fuzzy control
System identification
Vehicle control
Issue Date: 2007
Publisher: Institute of Electrical and Electronics Engineers
Source: IEEE transactions on vehicular technology, 2007, v. 56, no. 2, p. 529-543 How to cite?
Journal: IEEE transactions on vehicular technology 
Abstract: This paper presents the design and experimental implementation of a genetic fuzzy controller for automatic steering of a small-scaled vehicle. We first derive a dynamic model of the vehicle via system identification and show that the model exhibits similar characteristics to full-sized vehicles. Subsequently, a stable fuzzy proportional-derivative controller is designed and optimized by genetic algorithms. The control system is transformed into a Lurésystem, and Lyapunov's direct method is used to guarantee the stability of the control system. Experimental studies suggest that the control system is insensitive to parametric uncertainty, load, and disturbances. The performance of the proposed controller is also compared against a conventional proportional derivative (PD) controller. Experimental results confirm that it outperforms the conventional PD controller, particularly in terms of robustness.
URI: http://hdl.handle.net/10397/29181
ISSN: 0018-9545
EISSN: 1939-9359
DOI: 10.1109/TVT.2006.889576
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