Trajectory Tracking Control in Real-Time of Dual-Motor-Driven Driverless Racing Car Based on Optimal Control Theory and Fuzzy Logic Method

Table 3

Fuzzy control rule table.

Rules	Deviation
	Torque	NB	NS	ZE	PS	PB
Deviation change	NB	PB	PM	PM	PS	ZE
	NS	PB	PM	PS	ZE	NM
	ZE	PB	PM	ZE	NM	NB
	PS	PM	ZE	NS	NM	NB
	PB	ZE	NS	NM	NB	NB