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Back-up Control of Truck-Trailer Vehicles with Practical Constraints: Computing Time Delay and Quantization
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 Title & Authors
Back-up Control of Truck-Trailer Vehicles with Practical Constraints: Computing Time Delay and Quantization
Kim, Youngouk; Park, Jinho; Paik, Joonki;
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 Abstract
In this paper, we present implementation of backward movement control of truck-trailer vehicles using a fuzzy mode-based control scheme considering practical constraints and computational overhead. We propose a fuzzy feedback controller where output is predicted with the delay of a unit sampling period. Analysis and design of the proposed controller is very easy, because it is synchronized with sampling time. Stability analysis is also possible when quantization exists in the implementation of fuzzy control architectures, and we show that if the trivial solution of the fuzzy control system without quantization is asymptotically stable, then the solutions of the fuzzy control system with quantization are uniformly ultimately bounded. Experimental results using a toy truck show that the proposed control system outperforms a conventional system.
 Keywords
Fuzzy control;Vehicle control;Time-delay computation;
 Language
English
 Cited by
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