Article: Processor-in-the-loop co-simulations and control system design for a scaled autonomous multi-wheeled combat vehicle Journal: International Journal of Automation and Control (IJAAC) 2020 Vol.14 No.2 pp.138 - 160 Abstract: This paper describes the design and implementation of PID and fuzzy logic controllers for tracking the desired heading angle for a scaled autonomous multi-wheeled combat vehicle (AMWCV). The challenge of designing these control systems is to control the steering of the front four wheels individually in order to obtain the correct heading angle of the vehicle. The performance of the developed controllers is validated in the presence of noise and disturbance in order to evaluate the irrobustness. A processor-in-the-loop (PIL) co-simulation is conducted to permit and achieve amore realistic situation where the developed control algorithms are evaluated while running on a dedicated processor. The obtained results from both simulation and PIL are compared. This comparison will demonstrate the controller effectiveness in tracking the desired heading angles. Inderscience Publishers - linking academia, business and industry through research

Title: Processor-in-the-loop co-simulations and control system design for a scaled autonomous multi-wheeled combat vehicle

Authors: Amr Mohamed; A.N. Ouda; Jing Ren; Moustafa El-Gindy

Addresses: Faculty of Engineering and Applied Science, University of Ontario Institute of Technology (UOIT), 2000 Simcoe St N, Oshawa, ON L1H 7K4, Canada ' Faculty of Engineering and Applied Science, University of Ontario Institute of Technology (UOIT), 2000 Simcoe St N, Oshawa, ON L1H 7K4, Canada ' Faculty of Engineering and Applied Science, University of Ontario Institute of Technology (UOIT), 2000 Simcoe St N, Oshawa, ON L1H 7K4, Canada ' Faculty of Engineering and Applied Science, University of Ontario Institute of Technology (UOIT), 2000 Simcoe St N, Oshawa, ON L1H 7K4, Canada

Abstract: This paper describes the design and implementation of PID and fuzzy logic controllers for tracking the desired heading angle for a scaled autonomous multi-wheeled combat vehicle (AMWCV). The challenge of designing these control systems is to control the steering of the front four wheels individually in order to obtain the correct heading angle of the vehicle. The performance of the developed controllers is validated in the presence of noise and disturbance in order to evaluate the irrobustness. A processor-in-the-loop (PIL) co-simulation is conducted to permit and achieve amore realistic situation where the developed control algorithms are evaluated while running on a dedicated processor. The obtained results from both simulation and PIL are compared. This comparison will demonstrate the controller effectiveness in tracking the desired heading angles.

Keywords: autonomous vehicle; multi-wheeled combat vehicle; heading control; fuzzy logic; classical control; processor-in-the-loop; PIL.

DOI: 10.1504/IJAAC.2020.105516

International Journal of Automation and Control, 2020 Vol.14 No.2, pp.138 - 160

Received: 13 Feb 2018
Accepted: 19 Jun 2018
Published online: 03 Mar 2020 *

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Title: Processor-in-the-loop co-simulations and control system design for a scaled autonomous multi-wheeled combat vehicle

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