A Mixed Consensus and Fuzzy Approach to Position Control of Four-Wheeled Vehicles

Autonomous driving is a growing domain of intelligent transportation systems that utilizes communications to autonomously control cooperative vehicles. This thesis presents a multi-agent solution to the platoon control problem. First, an adaptive controller on linearized longitudinal dynamics of a vehicle is applied to assure vehicles are able to track their reference velocities. Then, an agent-based consensus approach is studied which enables multiple vehicles driving together where each vehicle can follow its predecessor at a close distance, safely. To deal with unexpected events, a fuzzy controller is added to the reference signal of the consensus controller. Simulation results are provided to validate the effectiveness of the approach in normal situations and in case of agents having an instant brake or receiving a wrong reference signal