Non-linear Control of an Autonomous Ground Vehicle

被引：0

作者：

Hernandez, Wilmar ^{[1
]}

Canas, Norberto ^{[2
]}

机构：

[1] Univ Politecn Madrid, Dep Ingn Circuitos & Sistemas, EUI Telecomun, Ctra Valencia Km 7, Madrid 28031, Spain

[2] Univ Politecn Madrid, Dept Informat Aplicada, EU Informat, E-28031 Madrid, Spain

来源：

IECON 2011: 37TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY | 2011年

关键词：

TRACKING CONTROL; MOBILE;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

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.

引用

页码：2678 / 2683

页数：6

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