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Heading tracking is a key technology in the navigation of the intelligent vehicle. The two degrees of freedom vehicle dynamic model is established for nonholonomic vehicles in this paper. Combining the traditional fuzzy control and classical PID control theory, a controller based on self-tuning fuzzy-PID is designed, which employs the heading tracking error e and the rate of change ec as its input...
To enhance yaw stability of the vehicle with Active Front Steering System, a vehicle two-degree-of-freedom simple model is set up. The feedback of the yaw rate is regarded as an input; we propose a yaw moment control based on fractional-order PID controller, and parameters in-line setting in the process of control is realized. The developed controller generates the suitable yaw moment so that the...
Although the conventional PID controller is widely used, there has been limited success in the yaw moment control of the vehicle with obvious nonlinearities. This paper presents a controller based on self-tuning fuzzy PID to improve vehicle handling and stability simultaneously. The controller contains a conventional PID controller and fuzzy controller which could tune the parameters of PID controller...
This paper presents simulation of integrated controller of vehicle anti-lock braking system, which consists of the traditional continuous PID and finite state machine theory. Based on the integrated controller, slip ratio and deceleration are selected as the main control parameters to optimize ABS. Vehicle speed, wheel speed, braking distance, pressure state and slip ratio are investigate to reveal...
A fixed reference control scheme for automated highways is proposed. Each vehicle controls itself; thus multiloop feedback is avoided. A simple proportional-integral-derivative (PID) controller is selected from many alternatives. For emergency stopping, a PI controller using a tachometer on a braked wheel can bring a vehicle with rubber tires to a controlled skid-free stop.
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