Adaptive fuzzy systems for integrated lateral and longitudinal control of highway vehicles

This research study is to improve safe and efficient operation of vehicles on highways by reducing accidents and loss of lives, and effective usage of road with automation of integrated throttle/brake and steering manoeuvres. In this regard for improved tracking control of vehicles, three novel adaptive fuzzy based control systems are developed. These controller models are 'blending-based' multiple-adaptive fuzzy controller and multiple-model/multiple-adaptive fuzzy controller, and 'switching-based' multiple-adaptive fuzzy controller. A single adaptive fuzzy controller is also developed for comparison purposes. All these controller models are established with extensive mathematical stability analyses followed with comprehensive validations based on simulations under extreme conditions.