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:
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Le document en format XML
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Rodic</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Mihailo Pupin Institute Robotics Department</s1><s2>11000 Belgrade, Volgina 15</s2><s3>YUG</s3><sZ>1 aut.</sZ></inist:fA14><country wicri:auto="YUG">Serbie</country><wicri:noRegion>Mihailo Pupin Institute Robotics Department</wicri:noRegion></affiliation></author><author><name sortKey="Vukobratovic, M K" sort="Vukobratovic, M K" uniqKey="Vukobratovic M" first="M. K." last="Vukobratovic">M. K. Vukobratovic</name></author></analytic><series><title level="j" type="main">International Journal of Computer Applications in Technology</title><title level="j" type="abbreviated">Int J Comput Appl Technol</title><idno type="ISSN">0952-8091</idno><imprint><date when="2002">2002</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">International Journal of Computer Applications in Technology</title><title level="j" type="abbreviated">Int J Comput Appl Technol</title><idno type="ISSN">0952-8091</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Autonomous road vehicles</term><term>Computer simulation</term><term>Control system synthesis</term><term>Distributed parameter control systems</term><term>Ground vehicles</term><term>Haptic interfaces</term><term>Integrated control</term><term>Integrated vehicle controllers</term><term>Mathematical models</term><term>Neuro-dynamic controllers</term><term>Theory</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Théorie</term><term>Système commande paramètre réparti</term><term>Véhicule terrestre</term><term>Interface haptique</term><term>Commande intégrée</term><term>Modèle mathématique</term><term>Simulation ordinateur</term><term>Synthèse système commande</term></keywords></textClass></profileDesc></teiHeader><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></front></TEI><affiliations><list><country><li>Serbie</li></country></list><tree><noCountry><name sortKey="Vukobratovic, M K" sort="Vukobratovic, M K" uniqKey="Vukobratovic M" first="M. K." last="Vukobratovic">M. K. Vukobratovic</name></noCountry><country name="Serbie"><noRegion><name sortKey="Rodic, A D" sort="Rodic, A D" uniqKey="Rodic A" first="A. D." last="Rodic">A. D. Rodic</name></noRegion></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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