Design and Lyapunov Stability Analysis of a Fuzzy Logic Controller for Autonomous Road Following

Table 1

Fuzzy rule base.

		${\dot{e}}_{\varphi }$
		PL	PS	ZO	NS	NL
$e_{\varphi }$	PL	RL	RL	RL	RS	MD
	PS	RL	RL	RS	MD	LS
	ZO	RL	RS	MD	LS	LL
	NS	RS	MD	LS	LL	LL
	NL	MD	LS	LL	LL	LL

Note: PL: Positive Large; PS: Positive Small; ZO: Zero; NS: Negative Small; NL: Negative Large; RL: Right Large (turn right sharply); RS: Right Small (turn right gently); MD: Middle (no turn); LL: Left Large (turn left sharply); LS: Left Small (turn left gently).