Advanced control and stability of autonomous road vehicles: Part I synthesis of a hybrid neuro-dynamic controller
Identifieur interne : 001296 ( PascalFrancis/Corpus ); précédent : 001295; suivant : 001297Advanced control and stability of autonomous road vehicles: Part I synthesis of a hybrid neuro-dynamic controller
Auteurs : A. D. Rodic ; 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.
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Format Inist (serveur)
| NO : | PASCAL 02-0257195 EI |
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| ET : | Advanced control and stability of autonomous road vehicles: Part I synthesis of a hybrid neuro-dynamic controller |
| AU : | RODIC (A. D.); VUKOBRATOVIC (M. K.) |
| AF : | Mihailo Pupin Institute Robotics Department/11000 Belgrade, Volgina 15/Yougoslavie (1 aut.) |
| DT : | Publication en série; Niveau analytique |
| SO : | International Journal of Computer Applications in Technology; ISSN 0952-8091; Coden IJCTEK; Royaume-Uni; Da. 2002; Vol. 15; No. 6; Pp. 233-247; Bibl. 21 Refs. |
| LA : | Anglais |
| EA : | 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. |
| CC : | 001D02D; 001D12; 001D03J03; 001A02; 001D02B12 |
| FD : | Théorie; Système commande paramètre réparti; Véhicule terrestre; Interface haptique; Commande intégrée; Modèle mathématique; Simulation ordinateur; Synthèse système commande |
| ED : | Neuro-dynamic controllers; Autonomous road vehicles; Integrated vehicle controllers; Theory; Distributed parameter control systems; Ground vehicles; Haptic interfaces; Integrated control; Mathematical models; Computer simulation; Control system synthesis |
| LO : | INIST-XXXX |
| ID : | 02-0257195 |
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Pascal:02-0257195Le document en format XML
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D.); VUKOBRATOVIC (M. K.)</AU><AF>Mihailo Pupin Institute Robotics Department/11000 Belgrade, Volgina 15/Yougoslavie (1 aut.)</AF><DT>Publication en série; Niveau analytique</DT><SO>International Journal of Computer Applications in Technology; ISSN 0952-8091; Coden IJCTEK; Royaume-Uni; Da. 2002; Vol. 15; No. 6; Pp. 233-247; Bibl. 21 Refs.</SO><LA>Anglais</LA><EA>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. 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