Citation

Ting CS, Chang YN. Procedia Eng. 2012; 29: 479-483.

Copyright

(Copyright © 2012, Elsevier Publishing)

DOI

10.1016/j.proeng.2011.12.746

PMID

unavailable

Abstract

This study addresses a robust control algorithm for automatic steering vehicles. The vehicle lateral dynamics is presented by a five degree-of-freedom model, which considers the nonlinear behaviors as tire force, wheel rotations, and forward velocity. Due to the model complexity, the analysis and design on this model is difficult to perform. To improve such problem, a robust control scheme which utilizes fuzzy neural network and backstepping control technique is investigated. The uniformly ultimately bounded stability conditions for ensuring performance are derived based on Lyapunov's method. Finally, the effectiveness of the proposed approach is verified via numeric example.