Fuzzy logic in control: truck backer-upper problem revisited
Andri Riid, Ennu Rüstern · 2002
The truck backer-upper problem, considered an acknowledged benchmark in nonlinear system identification, is an excellent test-bed for fuzzy control systems. A fuzzy controller, formulated on the basis of human understanding of the process or identified from measured control actions, can be regarded as an emulator of human operator. Controller design, however, may become difficult, especially if the number of state variables is large. In the paper, a supervisory control system is proposed that reduces the complexity of the control problem and enhances control. This is demonstrated with backing simulations in comparison with other fuzzy control techniques.