eprintid: 13307
rev_number: 15
eprint_status: archive
userid: 1903
dir: disk0/00/01/33/07
datestamp: 2012-11-28 10:06:51
lastmod: 2016-04-21 12:37:02
status_changed: 2012-11-28 10:06:51
type: conference_item
metadata_visibility: show
item_issues_count: 0
creators_name: Hernandez Perdomo, Wilmar
creators_name: Cañas de Paz, Norberto
title: Non-linear Control of an Autonomous Ground Vehicle
ispublished: pub
subjects: telecomunicaciones
subjects: informatica
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.
date: 2011
date_type: published
publisher: IEEE
official_url: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6119734
full_text_status: public
pres_type: paper
place_of_pub: EEUU
pagerange: 2678-2683
event_title: 37th Annual Conference of the IEEE Industrial Electronics Society - IECON 2011.
event_location: Melbourne, Australia
event_dates: 07/11/2011 - 10/11/2011
event_type: conference
institution: E_Telecomunicacion
department: Ingenieria_Circuitos
refereed: TRUE
isbn: 978-1-61284-969-0
book_title: Proceedings of the 37th Annual Conference of the IEEE Industrial Electronics Society - IECON 2011.
rights: by-nc-nd
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.    
document_url: https://oa.upm.es/13307/1/INVE_MEM_2011_111685.pdf