Non-linear Control of an Autonomous Ground Vehicle
| Data(s) |
2011
|
|---|---|
| Resumo |
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. |
| Formato |
application/pdf |
| Identificador | |
| Idioma(s) |
eng |
| Publicador |
E.U.I.T. Telecomunicación (UPM) |
| Relação |
http://oa.upm.es/13307/1/INVE_MEM_2011_111685.pdf http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6119734 info:eu-repo/semantics/altIdentifier/doi/null |
| Direitos |
http://creativecommons.org/licenses/by-nc-nd/3.0/es/ info:eu-repo/semantics/openAccess |
| Fonte |
Proceedings of the 37th Annual Conference of the IEEE Industrial Electronics Society - IECON 2011. | 37th Annual Conference of the IEEE Industrial Electronics Society - IECON 2011. | 07/11/2011 - 10/11/2011 | Melbourne, Australia |
| Palavras-Chave | #Telecomunicaciones #Informática |
| Tipo |
info:eu-repo/semantics/conferenceObject Ponencia en Congreso o Jornada PeerReviewed |
