Title :
Design and realization of unmanned mobile platform control system
Author :
YongKe, Li ; ZiLi, Chen
Author_Institution :
Dept. of Opt. & Electron. Eng., Ordnance Eng. Coll., Shijiazhuang, China
Abstract :
Unmanned Mobile Platform (UMP) is an intelligent and automated transport vehicle which can implement kinds of tasks by equipped different appurtenances. A four-wheel car with front wheels steer and rear wheels drive is selected as the moving mechanism, paper researches and designs a control system to make the platform follow the path´s guide-line with the master control chip MC9S12DG128. Platform control system is divided into longitude and lateral parts based on system model. Because of it´s a nonlinear and time-variation system, the effect of normal PID controller is not good, paper combines fuzzy-controller and PID controller to adjust the PID parameters on-line, improves the system fault tolerance and robustness. Both the model and controller are developed in the Matlab/Simulink environment, they are proved feasible.
Keywords :
automated highways; automotive components; control system synthesis; fuzzy control; microprocessor chips; mobile robots; path planning; remotely operated vehicles; three-term control; MC9S12DG128 master control chip; PID controller; PID parameters; automated transport vehicle; control system design; four wheel car; front wheels steer; fuzzy control; nonlinear system; path guideline; rear wheels drive; system fault tolerance; time variation system; unmanned mobile platform control system; Automatic control; Control system synthesis; Control systems; Fault tolerant systems; Intelligent vehicles; Mathematical model; Nonlinear control systems; Robust control; Three-term control; Wheels; MC9S12DG128; PID; UMP; fuzzy;
Conference_Titel :
Electronic Measurement & Instruments, 2009. ICEMI '09. 9th International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-3863-1
Electronic_ISBN :
978-1-4244-3864-8
DOI :
10.1109/ICEMI.2009.5274291
