Modelling and Trajectory Following of an Armoured Vehicle

被引：0

作者：

Amer, Noor Hafizah ^{[1
,2
]}

Zamzuri, Hairi ^{[2
]}

Hudha, Khisbullah ^{[1
]}

Aparow, Vimal Rau ^{[1
]}

Abd Kadir, Zulkiffli ^{[1
]}

Abidin, Amar Faiz Zainal ^{[3
]}

机构：

[1] Natl Def Univ Malaysia, Dept Mech Engn, Kuala Lumpur 57000, Malaysia

[2] Univ Technol Malaysia, Malaysia Japan Int Inst Technol, Kuala Lumpur 54000, Malaysia

[3] Univ Teknol MARA, Fac Elect Engn, Pasir Gudang 81750, Johor, Malaysia

来源：

PROCEEDINGS OF 2016 SICE INTERNATIONAL SYMPOSIUM ON CONTROL SYSTEMS (ISCS 2016) | 2016年

关键词：

Path following; active steering; autonomous; CONTROLLER; TRACKING;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this study, a trajectory following strategy consists of two feedback loops is employed on an armoured vehicle to follow a pre-defined trajectory using PID controllers. A 7 Degree-of-Freedoms (DOF) mathematical model is used to model the armoured vehicle which considers full vehicle interactions including tire model, powertrain model, slips and vertical load distribution model. Next, parametric study for the PID parameters was carried out. To tune the PID parameters, two methods are used namely try-and-error based on the parametric study and also using Particle Swarm Optimisation (PSO) algorithm. Lastly, controller responses were evaluated and compared in terms of its performance in following the trajectory. It was proven that PSO algorithm manage to tune and optimise the PID controller parameters for the trajectory following control.

引用

页码：101 / 106

页数：6

共 50 条

[1] Hardware-in-the-loop simulation of trajectory following control for a light armoured vehicle optimised with particle swarm optimisation
Amer, Noor Hafizah
Hudha, Khisbullah
Zamzuri, Hairi
Aparow, Vimal Rau
Abd Kadir, Zulkiffli
INTERNATIONAL JOURNAL OF HEAVY VEHICLE SYSTEMS, 2019, 26 (05) : 663 - 691
[2] Adaptive Trajectory Tracking Controller for an Armoured Vehicle: Hardware-in-the-loop Simulation
Amer, Noor Hafizah
Hudha, Khisbullah
Zamzuri, Hairi
Aparow, Vimal Rau
Abidin, Amar Faiz Zainal
Abd Kadir, Zulkiffli
Murrad, Muhamad
2018 57TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE), 2018, : 462 - 467
[3] Trajectory Following Control Based on Vehicle to Vehicle Communication
Fan Shiqi
Ma Jie
Zhao Zhenyuan
Huang Zichao
Wu Qing
3RD INTERNATIONAL CONFERENCE ON TRANSPORTATION INFORMATION AND SAFETY (ICTIS 2015), 2015, : 375 - 379
[4] Adaptive modified Stanley controller with fuzzy supervisory system for trajectory tracking of an autonomous armoured vehicle
Amer, Noor Hafizah
Hudha, Khisbullah
Zamzuri, Hairi
Aparow, Vimal Rau
Abidin, Amar Faiz Zainal
Abd Kadir, Zulkiffli
Murrad, Muhamad
ROBOTICS AND AUTONOMOUS SYSTEMS, 2018, 105 : 94 - 111
[5] Armoured vehicle held up
不详
PROFESSIONAL ENGINEERING, 1998, 11 (07) : 6 - 6
[6] Development of a trajectory following vehicle control model
Uzunsoy, Erdem
Erkilic, Veysel
ADVANCES IN MECHANICAL ENGINEERING, 2016, 8 (05): : 1 - 11
[7] Armoured vehicle maker sold to US
不详
PROFESSIONAL ENGINEERING, 2005, 18 (08) : 6 - 6
[8] Simulation of an Armoured Vehicle for Blast Loading
Mahajan, Sanjit
Muralidharan, R.
DEFENCE SCIENCE JOURNAL, 2017, 67 (04) : 449 - 453
[9] Armoured Fighting Vehicle - Future Perspective
Ramesh, S.
DEFENCE SCIENCE JOURNAL, 2017, 67 (04) : 341 - 342
[10] MoD advances armoured vehicle schedule
不详
PROFESSIONAL ENGINEERING, 2000, 13 (09) : 8 - 8

← 1 2 3 4 5 →