Reactive parking control of nonholonomic vehicles via a fuzzy learning automaton

Rigatos, GG; Tzafestas, SG; Evangelidis, GJ

dc.contributor.author	Rigatos, GG	en
dc.contributor.author	Tzafestas, SG	en
dc.contributor.author	Evangelidis, GJ	en
dc.date.accessioned	2014-03-01T01:17:00Z
dc.date.available	2014-03-01T01:17:00Z
dc.date.issued	2001	en
dc.identifier.issn	1350-2379	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/14314
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Engineering, Electrical & Electronic	en
dc.subject.classification	Instruments & Instrumentation	en
dc.subject.other	Automation	en
dc.subject.other	Computer simulation	en
dc.subject.other	Convergence of numerical methods	en
dc.subject.other	Fuzzy sets	en
dc.subject.other	Parking	en
dc.subject.other	Sliding mode control	en
dc.subject.other	Vehicles	en
dc.subject.other	Nonholonomic vehicles	en
dc.subject.other	Intelligent control	en
dc.title	Reactive parking control of nonholonomic vehicles via a fuzzy learning automaton	en
heal.type	journalArticle	en
heal.identifier.primary	10.1049/ip-cta:20010199	en
heal.identifier.secondary	http://dx.doi.org/10.1049/ip-cta:20010199	en
heal.language	English	en
heal.publicationDate	2001	en
heal.abstract	The paper presents an intelligent reactive controller, which is capable of performing automated parallel parking in a confined space slightly larger than the dimensions of the vehicle. This controller combines the features of fuzzy logic control and sliding-mode control and is modelled as a fuzzy learning, automaton. Starting with a brief exposition of the principles of reactive learning; and learning automata, the concept of the reduced complexity sliding-mode fuzzy logic controller (RC-SMFLC), employed, is introduced. Then the solution of the parking problem via the, RC-SMFLC, along with the convergence analysis, is presented. Representative simulation results are provided that demonstrate the parking steps and the effectiveness of the parking controller.	en
heal.publisher	IEE-INST ELEC ENG	en
heal.journalName	IEE Proceedings: Control Theory and Applications	en
dc.identifier.doi	10.1049/ip-cta:20010199	en
dc.identifier.isi	ISI:000168896200008	en
dc.identifier.volume	148	en
dc.identifier.issue	2	en
dc.identifier.spage	169	en
dc.identifier.epage	179	en