Adaptive Fuzzy Throttle Control for an All Terrain Vehicle

Ashitey Trebi-Ollennu, John M. Dolan, and Pradeep Khosla
Proceedings of the IASTED International Conference on Intelligent Systems and Control, October, 1999.


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Abstract
This paper describes an adaptive fuzzy throttle control for an All Terrain Vehicle (ATV) powered by an internal combustion engine. The design objective is to provide smooth throttle movement and zero steady-state speed error, and to maintain a selected vehicle speed over varying road slopes for a 2MPH to 30MPH speed range. Using experience and data collected from extensive experiments conducted on the ATV throttle mechanism, an adaptive fuzzy throttle control algorithm is designed. A candidate Lyapunov function is employed in the adaptive law synthesis to ensure convergence. Experimental results are presented showing the effectiveness of the control algorithm at speeds below 2.74MPH (1.2m/s).

Keywords
fuzzy control, adaptive control, mobile robots, mechatronics

Notes

Text Reference
Ashitey Trebi-Ollennu, John M. Dolan, and Pradeep Khosla, "Adaptive Fuzzy Throttle Control for an All Terrain Vehicle," Proceedings of the IASTED International Conference on Intelligent Systems and Control, October, 1999.

BibTeX Reference
@inproceedings{Dolan_1999_3215,
   author = "Ashitey Trebi-Ollennu and John M Dolan and Pradeep Khosla",
   title = "Adaptive Fuzzy Throttle Control for an All Terrain Vehicle",
   booktitle = "Proceedings of the IASTED International Conference on Intelligent Systems and Control",
   month = "October",
   year = "1999",
}