Fuzzy Motion Control Strategy for Cooperation of Multiple Automated Vehicles with Passengers Comfort

Francesco Maria Raimondi, Maurizio Melluso

Risultato della ricerca: Article

24 Citazioni (Scopus)


This paper considers motion control for a cooperative system of automated passenger vehicles. It develops a cooperative scheme based on a decentralized planning algorithm which considers the vehicles in an initial open chain configuration. In this scheme the trajectories are intersections-free, and each trajectory is planned independently of the others. To ensure the stabilization of each vehicle in the planned trajectory, a fuzzy closed loop motion control is presented, where, based on the properties of the Fuzzy maps, the Lyapunov’s stability of the motion errors is demonstrated for all the vehicles. Based on the ISO 2631-1 standard, the saturation property of the Fuzzy maps guarantees low values of longitudinal and lateral accelerations, to ensure comfort of the human body during the motion. The validity of this control algorithm is supported by simulation experiments.
Lingua originaleEnglish
pagine (da-a)2804-2816
Numero di pagine13
Stato di pubblicazionePublished - 2008


All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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