TY  - CONF
UR  - http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6119734
SN  - 978-1-61284-969-0
Y1  - 2011///
AV  - public
A1  - Hernandez Perdomo, Wilmar
A1  - Caņas de Paz, Norberto
SP  - 2678
T2  - 37th Annual Conference of the IEEE Industrial Electronics Society - IECON 2011.
CY  - EEUU
EP  - 2683
ID  - upm13307
PB  - IEEE
M2  - Melbourne, Australia
TI  - Non-linear Control of an Autonomous Ground Vehicle
N2  - 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.
ER  -