Engineering Commons^™

A Mixed Consensus And Fuzzy Approach To Position Control Of Four-Wheeled Vehicles, Bita Hasheminezhad

LSU Master's Theses

Autonomous driving is a growing domain of intelligent transportation systems that utilizes communications to autonomously control cooperative vehicles. This thesis presents a multi-agent solution to the platoon control problem. First, an adaptive controller on linearized longitudinal dynamics of a vehicle is applied to assure vehicles are able to track their reference velocities. Then, an agent-based consensus approach is studied which enables multiple vehicles driving together where each vehicle can follow its predecessor at a close distance, safely. To deal with unexpected events, a fuzzy controller is added to the reference signal of the consensus controller. Simulation results are provided to …