Fuzzy Logic Applied to Control Closed Path Trajectories of High Speed Ground Vehicles in Predefined Tracks 2008-36-0130
A Fuzzy Controller is designed to simulate a human driver controlling a high speed car through a known trajectory. The implementation of such controller uses the Fuzzy MatLab Toolbox, which is than transformed in a Simulink block and applied a Stationary Kinematical Model of a vehicle. Two different error generation procedures were tested analyzed as the controller's feedback input.
Previously studied controllers, such as the PD and PDD, submitted to equivalently high speeds, present an increasing position and orientation error. The Fuzzy Controller, fed with the future basis error generation procedure, is able to reduce in up to 5% the final lap time.
Citation: Ribeiro, S., Tanscheit, R., and Neto, M., "Fuzzy Logic Applied to Control Closed Path Trajectories of High Speed Ground Vehicles in Predefined Tracks," SAE Technical Paper 2008-36-0130, 2008, https://doi.org/10.4271/2008-36-0130. Download Citation
Author(s):
Sergio Santiago Ribeiro, Ricardo Tanscheit, Mauro Speranza Neto
Affiliated:
Vehicular Systems Group - PUC-Rio, Department of Electrical Engineering - PUC-Rio, Vehicular Systems Group Department of Mechanical Engineering - PUC-Rio
Pages: 11
Event:
2008 SAE Brasil Congress and Exhibit
ISSN:
0148-7191
e-ISSN:
2688-3627
Related Topics:
Fuzzy logic
CAD, CAM, and CAE
Vehicle drivers
Kinematics
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