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

Alonso, Luciano and Oria, Juan P. and Al-Hadithi, Basil M. and Jiménez Avello, Agustín (2013). Self-Tuning PID controller for autonomous car tracking in urban traffic. In: "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.

Description

Title: Self-Tuning PID controller for autonomous car tracking in urban traffic
Author/s:
  • Alonso, Luciano
  • Oria, Juan P.
  • Al-Hadithi, Basil M.
  • Jiménez Avello, Agustín
Item Type: Presentation at Congress or Conference (Article)
Event Title: ICSTCC 2013 17th International Conference on System Theory, Control and Computing
Event Dates: 11/10/2013 - 13/10/2013
Event Location: Sinaia, Rumanía
Title of Book: Proceedings of the 17th International Conference on System Theory, Control and Computing
Date: 2013
ISBN: 978-1-4799-2227-7
Subjects:
Faculty: E.U.I.T. Industrial (UPM)
Department: Electrónica, Automática e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

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.

More information

Item ID: 30015
DC Identifier: http://oa.upm.es/30015/
OAI Identifier: oai:oa.upm.es:30015
Official URL: http://ace.ucv.ro/icstcc2013/
Deposited by: Memoria Investigacion
Deposited on: 23 Jun 2014 08:19
Last Modified: 31 Oct 2014 23:56
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