Amer, N. H. and Zamzuri, H. and Hudha, K. and Aparow, V. R. and Kadir, Z. A. and Abidin, A. F. Z. (2016) Modelling and trajectory following of an armoured vehicle. In: 2nd SICE International Symposium on Control Systems, ISCS 2016, 7 March 2016 through 10 March 2016, Japan.
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Abstract
In this study, a trajectory following strategy consists of two feedback loops is employed on an armoured vehicle to follow a pre-defined trajectory using PID controllers. A 7 Degree-of-Freedoms (DOF) mathematical model is used to model the armoured vehicle which considers full vehicle interactions including tire model, powertrain model, slips and vertical load distribution model. Next, parametric study for the PID parameters was carried out. To tune the PID parameters, two methods are used namely try-and-error based on the parametric study and also using Particle Swarm Optimisation (PSO) algorithm. Lastly, controller responses were evaluated and compared in terms of its performance in following the trajectory. It was proven that PSO algorithm manage to tune and optimise the PID controller parameters for the trajectory following control.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Uncontrolled Keywords: | active steering, autonomous, Path following |
| Subjects: | T Technology > T Technology (General) |
| Divisions: | Malaysia-Japan International Institute of Technology |
| ID Code: | 73279 |
| Deposited By: | Muhammad Atiff Mahussain |
| Deposited On: | 27 Nov 2017 09:02 |
| Last Modified: | 27 Nov 2017 09:02 |
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