Title: Design of an integrated active control system for road vehicles operating with automated highway systems
Authors: Aleksandar D. Rodic, Miomir K. Vukobratovic
Addresses: Mihailo Pupin Institute, Robotics Center, POB 15, Volgina 15, 11000 Belgrade, Yugoslavia. Mihailo Pupin Institute, Robotics Center, POB 15, Volgina 15, 11000 Belgrade, Yugoslavia
Abstract: A new concept of an integrated active control of road vehicles operating with automated highway systems (AHS) is established in the paper. In that sense, a hybrid neuro-dynamic vehicle controller was synthesised based on the centralised dynamic control and using a supplementary neuro-compensator. The approach of the two-levels (tactical and executive) distributed hierarchy control strategy was used in the synthesis of the vehicle controller. The use of the position control law or the combined position/force control law were proposed at the tactical control level. Adaptive control gains of the dynamic controller were determined at the tactical control level based on the examination of the system practical stability test in the six global motion directions. On the other hand, by introducing the supplementary neuro-compensator, greater robustness of the system automatic control of the vehicle was achieved. A suitable controller design based on a multiprocessor system is proposed in the paper.
Keywords: multibody system; active system; integrated control; practical stability; neuro-compensator; automated highway systems.
International Journal of Computer Applications in Technology, 2000 Vol.13 No.1/2, pp.78-92
Published online: 13 Jul 2003 *Full-text access for editors Access for subscribers Purchase this article Comment on this article