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

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