|Table of Contents|

Lateral Position Tracking of Unmanned Vehicles Based on Reformed Single Neuron PID Control

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
2009年01期
Page:
32-36
Research Field:
Publishing date:

Info

Title:
Lateral Position Tracking of Unmanned Vehicles Based on Reformed Single Neuron PID Control
Author(s):
LIU Zi-Long12
1.School of Computer and Electrical Engineering,University of Shanghai for Science and Technology, Shanghai 200093,China;2.Institute of Robotics,Shanghai Jiaotong University,Shanghai 200240,China
Keywords:
unmanned vehicles lateral position tracking reformed single neuron virtual reality modeling language
PACS:
TP242.6
DOI:
-
Abstract:
Based on the non-linearities and time-varying property of lateral kinematics model for unmanned vehicles,this paper studies a reformed single neuron PID tracking control strategy for lateral position trajectory tracking control.This control scheme gains better control effects and makes the vehicle robust while working under unknown environment in random speeds.The simulation results in terms of three-dimention animation using VRML validate the effect of the method,which is helpful to study the practical tracking scheme for unmanned vehicles.

References:

[ 1] 徐俊艳, 张培仁. 非完整轮式移动机器人轨迹跟踪控制研究[ J]. 中国科学技术大学学报, 2004, 34( 3): 376- 380.

[ 2] Huang Jihua, Tom izukaM. LTV contro ller design for vehic le latera l control under fau lt in rear sensors [ J ].IEEE /ASME TransM echatronics, 2005, 10( 1): 1- 7.
[ 3] 李艳, 高峰, 林廷圻. 一种3自由度移动机器人的跟踪新策略[ J]. 系统仿真学报, 2004, 16( 3): 585- 588.
[ 4] 晁红敏, 胡跃明. 动态滑模控制及其在移动机器人输出跟踪中的应用[ J]. 控制与决策, 2001, 16( 5):565- 568.
[ 5] 邹小兵, 蔡自兴. 非完整移动机器人道路跟踪控制器设计及应用[ J]. 控制与决策, 2004, 19( 3): 319- 322.
[ 6] 董国华, 祝晓才, 刘振, 等. 不确定曲面上轮式移动机器人鲁棒轨迹跟踪[ J]. 南京理工大学学报(自然科学版), 2008, 32( 1): 18- 27.
[ 7 ] 祖莉, 王华坤, 范元勋. 户外小型智能移动机器人运动轨迹跟踪控制[ J]. 南京理工大学学报( 自然科学版) , 2003, 27( 1): 56- 59.
[ 8 ] 邓宗全, 胡明, 高海波. 月球探测车的动力学建模与仿真分析[ J]. 南京理工大学学报( 自然科学版) , 2005, 25( 5): 551- 555.
[ 9] Ben ton R E Jr, Sm ith D. A static-ou tput-feedback designprocedure fo r robust em erg ency late ra l contro l o f ah ighw ay veh icle[ J]. IEEE Trans Contr Syst Techno ,l2005, 13( 4): 618- 623.
[ 10] O.B rien R T, Ig les ias P A, Urban T J. Veh icle late ra lcontro l for au tom ated h ighw ay system s [ J ]. IEEETrans Contr Syst Techno,l 1996, 4( 3): 266- 273.
[ 11] 陈得宝, 赵春霞. 基于改进GA 的WRBF神经网络与应用[ J]. 南京理工大学学报( 自然科学版),2007, 31( 3): 370- 374.
[ 12] ChoyM in Chee, Srin ivasan D, Cheu Ruey Long. Neura lnetw orks for continuous online learning and control[ J].IEEE Trans NeuralNetw, 2006, 17( 6): 1511- 1531.
[ 13] Yam adaT, Yabuta T, Takahash iK. Rem arks on an adaptive type sel-f tun ing con tro ller using neural ne-tw orks[ A ]. IECON. 91[ C ]. N ew Yo rk: Institute o fElectrical and E lectron ics Eng ineers, 1991. 1389- 1394

Memo

Memo:
-
Last Update: 2012-11-19