Non-linear control of an autonomous ground vehicle

Author

Hernandez, Wilmar ; Cañas, Norberto

Author_Institution

Dept. de Ing. de Circuitos y Sist., Univ. Politec. de Madrid, Madrid, Spain

fYear

2011

fDate

7-10 Nov. 2011

Firstpage

2678

Lastpage

2683

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.

Keywords

control system synthesis; fuzzy control; genetic algorithms; linear quadratic control; mobile robots; nonlinear control systems; remotely operated vehicles; three-term control; velocity control; LQR controller; PID controller; autonomous ground vehicle; controller design; fuzzy controller; linear quadratic regulator controller; multicomputer genetic algorithm; nonlinear control; proportional-integral-derivative controller; speed controller; DC motors; Equations; Force; Mathematical model; Niobium; Vectors; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

IECON 2011 - 37th Annual Conference on IEEE Industrial Electronics Society

Conference_Location

Melbourne, VIC

ISSN

1553-572X

Print_ISBN

978-1-61284-969-0

Type

conf

DOI

10.1109/IECON.2011.6119734

Filename

6119734