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

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Abstract

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
RivistaAutomatica
Volume44
Stato di pubblicazionePublished - 2008

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Motion control
Fuzzy control
Trajectories
Stabilization
Planning
Experiments

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cita questo

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title = "Fuzzy Motion Control Strategy for Cooperation of Multiple Automated Vehicles with Passengers Comfort",
abstract = "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.",
keywords = "Automated Vehicles, Cooperation, Fuzzy Control, Lyapunov's stability, Motion control, passengers comfort",
author = "Raimondi, {Francesco Maria} and Maurizio Melluso",
year = "2008",
language = "English",
volume = "44",
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journal = "Automatica",
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AU - Raimondi, Francesco Maria

AU - Melluso, Maurizio

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N2 - 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.

AB - 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.

KW - Automated Vehicles, Cooperation, Fuzzy Control, Lyapunov's stability, Motion control, passengers comfort

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JO - Automatica

JF - Automatica

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