Stability analysis of fuzzy path tracking using a MIMO frequency response technique

This paper presents the application of a multivariable frequency response technique to study the stability of autonomous vehicles when tracking a path. Particularly, the stability of a path tracking control loop with a fuzzy controller is considered. The technique is based on the analysis of the solutions of the harmonic balance equation. Necessary and sufficient conditions for stability are obtained by examining a family of characteristic loci parameterized in the amplitude. The method can be applied when pure delays exist in the path tracking control loop. Several simulations experiments have been done. These experiments show a Hopf bifurcation induced by a pure delay, and an unstable limit cycle around a stable origin. Copyright (C) 1998 IFAC.