|Table of Contents|

Vehicle path and speed tracking control of robotdriver based on fuzzy immune PID(PDF)

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

Issue:
2017年06期
Page:
686-
Research Field:
Publishing date:

Info

Title:
Vehicle path and speed tracking control of robotdriver based on fuzzy immune PID
Author(s):
Wang JiweiChen GangWang Jun
School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China
Keywords:
robot driver path tracking speed tracking fuzzy control immune control proportional integration differential control
PACS:
U471.1
DOI:
10.14177/j.cnki.32-1397n.2017.41.06.004
Abstract:
A control method based on fuzzy immune proportional integration differential(PID)is proposed to realize the path and speed tracking control of a vehicle drove by a robot driver.A fuzzy immune proportional path tracking controller controls the steering manipulator on the steering wheel by calculating the lateral deviation between the expected vehicle path and the actual vehicle path.A fuzzy immune PID speed tracking controller controls the brake/accelerator mechanical leg on the brake/accelerator pedal respectively by calculating the deviation of expected speed and actual speed.The longitudinal speed control and the vehicle steering control are decoupled by updating the vehicle lateral acceleration gain of the vehicle speed feedback.The co-simulation results of Carsim/Simulink reveal the maximum error of vehicle path tracking and vehicle speed tracking is 0.28 m and 1 km/h.

References:

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Last Update: 2017-12-31