Non-linear Control of an Autonomous Ground Vehicle

Hernandez Perdomo, Wilmar and Cañas de Paz, Norberto (2011). Non-linear Control of an Autonomous Ground Vehicle. In: "37th Annual Conference of the IEEE Industrial Electronics Society - IECON 2011.", 07/11/2011 - 10/11/2011, Melbourne, Australia. ISBN 978-1-61284-969-0. pp. 2678-2683.

Description

Title: Non-linear Control of an Autonomous Ground Vehicle
Author/s:
  • Hernandez Perdomo, Wilmar
  • Cañas de Paz, Norberto
Item Type: Presentation at Congress or Conference (Article)
Event Title: 37th Annual Conference of the IEEE Industrial Electronics Society - IECON 2011.
Event Dates: 07/11/2011 - 10/11/2011
Event Location: Melbourne, Australia
Title of Book: Proceedings of the 37th Annual Conference of the IEEE Industrial Electronics Society - IECON 2011.
Date: 2011
ISBN: 978-1-61284-969-0
Subjects:
Faculty: E.U.I.T. Telecomunicación (UPM)
Department: Ingeniería de Circuitos y Sistemas [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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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.

More information

Item ID: 13307
DC Identifier: http://oa.upm.es/13307/
OAI Identifier: oai:oa.upm.es:13307
Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6119734
Deposited by: Memoria Investigacion
Deposited on: 28 Nov 2012 10:06
Last Modified: 21 Apr 2016 12:37
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