Title: Advanced control and stability of autonomous road vehicles. Part I: synthesis of a hybrid neuro-dynamic controller

Authors: Aleksandar D. Rodic, Miomir K. Vukobratovic

Addresses: Mihailo Pupin Institute, Robotics Department POB 15, 11000 Belgrade, Volgina 15, Yugoslavia. Mihailo Pupin Institute, Robotics Department POB 15, 11000 Belgrade, Volgina 15, Yugoslavia

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 realised by designing a dynamic controller. At the tactical control level, the centralised 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 synthesised 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.

Keywords: automatic system guidance; autonomous road vehicles; integrated control.

DOI: 10.1504/IJCAT.2002.000299

International Journal of Computer Applications in Technology, 2002 Vol.15 No.6, pp.233-247

Published online: 15 Jul 2003 *

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