Title :
Longitudinal controller design for autonomous ground vehicle in off-road environment
Author :
Daxue, Liu ; Zhenping, Sun ; Hanqing, Zhao ; Zheng, Li ; Hangen, He
Author_Institution :
Coll. of Mechatron. Eng. & Autom., Nat. Univ. of Defense Technol., Changsha
Abstract :
This paper design a feedforward controller for longitudinal control of autonomous ground vehicle based on the analysis the force of the vehicle in Off-road Environment. To make up the weakness of the feedforward controller, speed error in imported as the feedback signal. A longitudinal controller composed of feedforward controller and feedback controller is designed. The expected speed of the longitudinal controller is generated by multiple restriction of global planning speed.
Keywords :
control system synthesis; feedback; feedforward; mobile robots; vehicles; autonomous ground vehicle; feedback signal; feedforward controller; global planning speed; longitudinal controller design; off-road environment; speed error; Automatic control; Force control; Force feedback; Helium; Land vehicles; Life estimation; Mobile robots; Remotely operated vehicles; Road vehicles; Sun; Feedback; Feedforwd; Longitudinal control; Speed plan;
Conference_Titel :
Control Conference, 2008. CCC 2008. 27th Chinese
Conference_Location :
Kunming
Print_ISBN :
978-7-900719-70-6
Electronic_ISBN :
978-7-900719-70-6
DOI :
10.1109/CHICC.2008.4605630
