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Non-linear Control of an Autonomous Ground Vehicle
Citation
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 |
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| Author/s: |
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| 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 |
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 |
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| DC Identifier: | https://oa.upm.es/13307/ |
| OAI Identifier: | oai:oa.upm.es:13307 |
| Official URL: | http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumb... |
| Deposited by: | Memoria Investigacion |
| Deposited on: | 28 Nov 2012 10:06 |
| Last Modified: | 21 Apr 2016 12:37 |
