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Non-linear control of an autonomous ground vehicle

Abstract:

In this paper, in order to select a speed controller for a specific non-linear autonomous ground vehicle, proportional-integral-derivative (PID), Fuzzy, and linear quadratic regulator (LQR) controllers were designed. Here, in order to carry out the tuning of the above controllers, a multicomputer genetic algorithm (MGA) was designed. Then, the results of the MGA were used to parameterize the PID, Fuzzy and LQR controllers and to test them under laboratory conditions. Finally, a comparative analysis of the performance of the three controllers was conducted. © 2011 IEEE.

Año de publicación:

2011

Keywords:

    Fuente:

    scopusscopus
    googlegoogle

    Tipo de documento:

    Conference Object

    Estado:

    Acceso restringido

    Áreas de conocimiento:

    • Sistema de control
    • Robótica

    Áreas temáticas:

    • Otras ramas de la ingeniería

    Contribuidores:

    Cañas N.Cañas N.
    Wilmar HernandezWilmar Hernandez