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Comparing fuzzy and intelligent PI controllers in stop-and-go manoeuvres

AuthorsMilanés, Vicente ; Villagrá, Jorge ; Godoy, Jorge ; González, Carlos
KeywordsRoad vehicles
proportional-integral-derivative (PID)
nonlinear control
intelligent control
Fuzzy control
Issue Date2012
PublisherInstitute of Electrical and Electronics Engineers
CitationIEEE Transactions on Control Systems Technology 20: 770- 778 (2012)
AbstractThe aim of this work was twofold: on the one hand, to describe a comparative study of two intelligent control techniques-fuzzy and intelligent proportional-integral (PI) control, and on the other, to try to provide an answer to an as yet unsolved topic in the automotive sector-stop-and-go control in urban environments at very low speeds. Commercial vehicles exhibit nonlinear behavior and therefore constitute an excellent platform on which to check the controllers. This paper describes the design, tuning, and evaluation of the controllers performing actions on the longitudinal control of a car-the throttle and brake pedals-to accomplish stop-and-go manoeuvres. They are tested in two steps. First, a simulation model is used to design and tune the controllers, and second, these controllers are implemented in the commercial vehicle-which has automatic driving capabilities-to check their behavior. A stop-and-go manoeuvre is implemented with the two control techniques using two cooperating vehicles. © 2011 IEEE.
Identifiersdoi: 10.1109/TCST.2011.2135859
issn: 1063-6536
Appears in Collections:(CAR) Artículos
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