Fuzzy Logic Applied to Control Closed Path Trajectories of High Speed Ground Vehicles in Predefined Tracks

A Fuzzy Controller is designed to simulate a human driver controlling a high speed car through a known trajectory. The implementation of such controller uses the Fuzzy MatLab Toolbox, which is than transformed in a Simulink block and applied a Stationary Kinematical Model of a vehicle. Two different error generation procedures were tested analyzed as the controller's feedback input.

Previously studied controllers, such as the PD and PDD, submitted to equivalently high speeds, present an increasing position and orientation error. The Fuzzy Controller, fed with the future basis error generation procedure, is able to reduce in up to 5% the final lap time.