Self-Tuning PID controller for autonomous car tracking in urban traffic

Alonso, Luciano; Oria, Juan P.; Al-Hadithi, Basil M. y Jiménez Avello, Agustín (2013). Self-Tuning PID controller for autonomous car tracking in urban traffic. En: "ICSTCC 2013 17th International Conference on System Theory, Control and Computing", 11/10/2013 - 13/10/2013, Sinaia, Rumanía. ISBN 978-1-4799-2227-7. pp. 15-20.

Descripción

Título: Self-Tuning PID controller for autonomous car tracking in urban traffic
Autor/es:
  • Alonso, Luciano
  • Oria, Juan P.
  • Al-Hadithi, Basil M.
  • Jiménez Avello, Agustín
Tipo de Documento: Ponencia en Congreso o Jornada (Artículo)
Título del Evento: ICSTCC 2013 17th International Conference on System Theory, Control and Computing
Fechas del Evento: 11/10/2013 - 13/10/2013
Lugar del Evento: Sinaia, Rumanía
Título del Libro: Proceedings of the 17th International Conference on System Theory, Control and Computing
Fecha: 2013
ISBN: 978-1-4799-2227-7
Materias:
Escuela: E.U.I.T. Industrial (UPM) [antigua denominación]
Departamento: Electrónica, Automática e Informática Industrial [hasta 2014]
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

In this paper an on line self-tuned PID controller is proposed for the control of a car whose goal is to follow another one, at distances and speeds typical in urban traffic. The bestknown tuning mechanism is perhaps the MIT rule, due to its ease of implementation. However, as it is well known, this method does not guarantee the stability of the system, providing good results only for constant or slowly varying reference signals and in the absence of noise, which are unrealistic conditions. When the reference input varies with an appreciable rate or in presence of noise, eventually it could result in system instability. In this paper an alternative method is proposed that significantly improves the robustness of the system for varying inputs or in the presence of noise, as demonstrated by simulation.

Más información

ID de Registro: 30015
Identificador DC: http://oa.upm.es/30015/
Identificador OAI: oai:oa.upm.es:30015
URL Oficial: http://ace.ucv.ro/icstcc2013/
Depositado por: Memoria Investigacion
Depositado el: 23 Jun 2014 08:19
Ultima Modificación: 31 Oct 2014 23:56
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