Paper Info
Title
Adaptive speed tracking control for autonomous land vehicles in all-terrain navigation: An experimental study
Abstract
This paper develops a nonparametric controller with an internal model control (IMC) structure for the longitudinal speed tracking control of autonomous land vehicles by designing a proportional and internal model control (IMC) cascade (P-IMC) controller. An IMC architecture is employed in the inner control loop by establishing a nonparametric longitudinal dynamical model, whereas a P controller is designed for the outer control loop. An approach for estimating the terrain effects and compensating for the model errors is also introduced. The differences from other nonparametric controllers are discussed, and the stability of the P-IMC controller is analyzed and validated experimentally. The P-IMC controller is compared with the SpAM+PI to illustrate its advantages. The experimental results of autonomous all-terrain driving show the effectiveness of the P-IMC controller. © 2013 Wiley Periodicals, Inc.
Year
DOI
Venue
2013
10.1002/rob.21440
J. Field Robotics
Keywords
Field
DocType
imc architecture,model error,inner control loop,p-imc controller,adaptive speed tracking control,experimental study,nonparametric longitudinal dynamical model,outer control loop,p controller,autonomous land vehicle,longitudinal speed tracking control,all-terrain navigation,internal model control,nonparametric controller
Control theory,Proportional control,Simulation,Control theory,Terrain,Control engineering,Nonparametric statistics,Cascade,Engineering,Control system,Open-loop controller,Internal model
Journal
Volume
Issue
ISSN
30
1
1556-4959
Citations 
PageRank 
References 
2
0.39
18
Authors
6
Name
Order
Citations
PageRank
Jian Wang130248.27
Zhenping Sun2304.16
Xin Xu31365100.22
Daxue Liu411610.89
Jinze Song5395.26
Yuqiang Fang61288.93