Advanced control and stability of autonomous road vehicles: Part I synthesis of a hybrid neuro-dynamic controller
Identifieur interne : 007425 ( Main/Exploration ); précédent : 007424; suivant : 007426Advanced control and stability of autonomous road vehicles: Part I synthesis of a hybrid neuro-dynamic controller
Auteurs : A. D. Rodic [Serbie] ; M. K. VukobratovicSource :
- International Journal of Computer Applications in Technology [ 0952-8091 ] ; 2002.
Descripteurs français
- Pascal (Inist)
English descriptors
- KwdEn :
Abstract
A new concept of an advanced integrated vehicle controller with a 4-wheel control system (ADIVEC-4WCS), to provide an automatic system guidance, is presented. It was established upon the implementation of a hybrid neuro-dynamic control. The strategy of the distributed hierarchy control at the tactical and executive control levels is realized by designing a dynamic controller. At the tactical control level, the centralized approach using the entire dynamic model of the road vehicle was applied. In order to compensate for the effects of inaccuracies of the model parameters and system uncertainties, a neuro-compensator was synthesized at this control level, too. A spatial model of the road vehicle interacting with the dynamic environment, used for control synthesis, is described. Some characteristic simulation results are presented showing the efficiency of the proposed neuro-dynamic vehicle controller.
Affiliations:
Links toward previous steps (curation, corpus...)
- to stream PascalFrancis, to step Corpus: 001296
- to stream PascalFrancis, to step Curation: 000216
- to stream PascalFrancis, to step Checkpoint: 001038
- to stream Main, to step Merge: 007978
- to stream Main, to step Curation: 007425
Le document en format XML
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<front><div type="abstract" xml:lang="en">A new concept of an advanced integrated vehicle controller with a 4-wheel control system (ADIVEC-4WCS), to provide an automatic system guidance, is presented. It was established upon the implementation of a hybrid neuro-dynamic control. The strategy of the distributed hierarchy control at the tactical and executive control levels is realized by designing a dynamic controller. At the tactical control level, the centralized approach using the entire dynamic model of the road vehicle was applied. In order to compensate for the effects of inaccuracies of the model parameters and system uncertainties, a neuro-compensator was synthesized at this control level, too. A spatial model of the road vehicle interacting with the dynamic environment, used for control synthesis, is described. Some characteristic simulation results are presented showing the efficiency of the proposed neuro-dynamic vehicle controller.</div>
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