Self-Tuning PID controller for autonomous car tracking in urban traffic


Autoria(s): Alonso, Luciano; Oria, Juan P.; Al-Hadithi, Basil M.; Jiménez Avello, Agustín
Data(s)

2013

Resumo

In this paper an on line self-tuned PID controller is proposed for the control of a car whose goal is to follow another one, at distances and speeds typical in urban traffic. The bestknown tuning mechanism is perhaps the MIT rule, due to its ease of implementation. However, as it is well known, this method does not guarantee the stability of the system, providing good results only for constant or slowly varying reference signals and in the absence of noise, which are unrealistic conditions. When the reference input varies with an appreciable rate or in presence of noise, eventually it could result in system instability. In this paper an alternative method is proposed that significantly improves the robustness of the system for varying inputs or in the presence of noise, as demonstrated by simulation.

Formato

application/pdf

Identificador

http://oa.upm.es/30015/

Idioma(s)

eng

Publicador

E.U.I.T. Industrial (UPM)

Relação

http://oa.upm.es/30015/1/INVE_MEM_2013_165545.pdf

http://ace.ucv.ro/icstcc2013/

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 17th International Conference on System Theory, Control and Computing | ICSTCC 2013 17th International Conference on System Theory, Control and Computing | 11/10/2013 - 13/10/2013 | Sinaia, Rumanía

Palavras-Chave #Robótica e Informática Industrial
Tipo

info:eu-repo/semantics/conferenceObject

Ponencia en Congreso o Jornada

PeerReviewed