%0 Journal Article
%T H-infinity variable universe fuzzy control for lateral control of autonomous vehicle<br>自主汽车的侧向H∞自适应变论域模糊控制
%A GUO Chun
%A WANG Jiang
%A QIAO Guo-dong
%A <br>郭纯
%A 王江
%A 乔国栋
%J 控制理论与应用
%D 2005
%I 
%X Automatic steering control is a complex nonlinear system,which includes lane keeping and lane changing.An attempt is made to create the bridge between two important design techniques,i.e.H-infinity control design and fuzzy control design,so as to provide H-infinity control design with more intelligence and fuzzy control design with better robust performance.By Lyapunov method,the overall closed-loop system is shown to be stable.In the study,the effect of both fuzzy logic approximation error and external disturbance on the tracking error is attenuated to a prescribed level by adequately selecting the weighting factor.The simulation results of the lateral control of the autonomous vehicle are given to confirm that the control algorithm is feasible for practical application.
%K variable universe fuzzy control
%K adaptive fuzzy control
%K H-infinity autonomous vehicle<br>变论域模糊控制
%K 自适应
%K H∞自主汽车
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=56F979974ACD8DD0&yid=2DD7160C83D0ACED&vid=BC12EA701C895178&iid=B31275AF3241DB2D&sid=FE2777263ADBA5FE&eid=F434A3C2A19884E7&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=1&reference_num=16