Mathematical Problems in Engineering / 2010 / Article / Tab 1

Research Article

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

Table 1

Fuzzy rule base.

ėϕ
PL PS ZO NS NL

eϕPL 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).

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