A vehicle with steerable front and real wheels is a tangible representation of a multi-output system. For such a vehicle a common logic dictates that for a heading error the front and real wheels be streered to opposite directions and for an offset from a desired path they be streered to the same direction. The system has two inputs and two outputs. For design of an optimal controller, however, an integral action is added to the controller which leads to an augmented system of fourth order. This system is initially unstable; it is linear but is subject to certain-intrinsic and input constraints. The control problem for path following of such a vehicle can be based on the kinematics only at lower speeds. This makes the control problem formulation simpler. The system can be treated as a regulator problem when following a straight path, but for following curves a tracking problem is involved. The behavior of the system is simulated when controlled according to a fuzzy logic control (FLC) policy and when governed by an optical controller incorporating integral action for disturbance rejection. Various matters associated with design and effects of controllers are compared. It may be concluded that whereas for a servo problem (tracking system) an optical controller cannot be outperformed, for a regulator system FLC can be more attractive.


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    Title :

    A comparative study of an optimal controller and a fuzzy logic controller for a multi-input multi-output system


    Additional title:

    Vergleich eines optimalen Mehrgrößenreglers und eines Fuzzy-Logik-Reglers bei der Fahrzeugführung


    Contributors:
    Hemami, A. (author)


    Publication date :

    1995


    Size :

    6 Seiten, 7 Bilder, 3 Tabellen, 19 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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