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

Table 2

Error calculation table.

Red centroid	Yellow centroid	Error
$Cr!=0$	$Cy!=0$	$\text{Error}=C-Cw$
$Cr!=0$	$Cy=0$	$\text{Error}=176-Cr$
$Cr=0$	$Cy!=0$	$\text{Error}=0-Cy$