Global stability analysis of fuzzy path tracking using frequency response
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.
stability analysis path tracking frequency response methods fuzzy-logic control: nonlinear systems