Abstract
This paper presents an intelligent multiple-controller framework for the integrated control of throttle, brake and steering subsystems of realistic validated nonlinear autonomous vehicles. In the developed multiple-controller framework, a fuzzy logic-based switching and tuning supervisor operates at the highest level of the system and makes a switching decision on the basis of the required performance measure, between an arbitrary number of adaptive controllers: in the current case, between a conventional Proportional-Integral-Derivative (PID) controller and a PID structure-based pole-zero placement controller. The fuzzy supervisor is also able to adaptively tune the parameters of the multiple controllers. Sample simulation results using a realistic autonomous vehicle model demonstrate the ability of the intelligent controller to both simultaneously track the desired throttle, braking force, and steering changes, whilst penalising excessive control actions - with significant potential implications for both fuel and emission economy. We conclude by demonstrating how this work has laid the foundation for ongoing neuro-biologically motivated algorithmic development of a more cognitively inspired multiple-controller framework.
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Hussain, A., Abdullah, R., Yang, E., Gurney, K. (2012). An Intelligent Multiple-Controller Framework for the Integrated Control of Autonomous Vehicles. In: Zhang, H., Hussain, A., Liu, D., Wang, Z. (eds) Advances in Brain Inspired Cognitive Systems. BICS 2012. Lecture Notes in Computer Science(), vol 7366. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-31561-9_10
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DOI: https://doi.org/10.1007/978-3-642-31561-9_10
Publisher Name: Springer, Berlin, Heidelberg
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