A novel adaptive fuzzy controller for application in autonomous vehicles

Abstract

Adaptive control for a class of nonlinear systems is discussed in this paper.We use fuzzy systems to approximate the ideal optimal controller by adjusting the parameters of fuzzy systems.In order to tune these parameters,linear relationship between approximation error and parameters is established first.Then we design the adaptive laws of these parameters based on Lyapunov synthesis approach.The advantage of our method is that we can tune not only the parameters of the consequences of fuzzy rules,but also the parameters of the membership functions.As a result,a stable and more flexible controller is achieved.The performance of the adaptive scheme is demonstrated through the longitudinal vehicle control. 还原