Yaw rate and sideslip control using h-infinity-pid controller during automated lane change manoeuver
The classical PID controller is widely used in industrial control system applications. Despite uses only a simple feedback control loop in the method, it was found that tuning its parameters and controller gains can be difficult, especially in the vehicle control application that is shown to be m...
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| Main Author: | |
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| Format: | Thesis |
| Language: | English |
| Published: |
2021
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/10775/1/24p%20ZAINAB%20ZAINAL.pdf http://eprints.uthm.edu.my/10775/ |
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| Summary: | The classical PID controller is widely used in industrial control system applications.
Despite uses only a simple feedback control loop in the method, it was found
that tuning its parameters and controller gains can be difficult, especially in the vehicle
control application that is shown to be more complex and time-consuming. This research
aims to propose a simple PID tuning algorithm and to investigate the possibility
of utilising H¥ synthesis during the automated LC manoeuvre by initiating the estimated
steering wheel angle of the driver’s model at a constant speed of 80 km=h. Two
tuning algorithms were proposed; First, using stabilised boundary locus of KpKi value
and Ziegler-Nichols (Z-N) tuning rules; Second, the extended version of the first algorithm
hybrid with H¥ and Chein rules. Using single-input-two-outputs (SITO) plant
of front-wheel-steering (FWS) lateral vehicle model, the yaw rate, y˙ and sideslip, b,
both are being controlled using two PID configurations; Single-PID and Dual-PID.
The performance between the MATLAB auto-tuned PID, and the proposed PID tuning
method was compared. The H¥PID controller performed better than the MATLAB
auto-tuned PID, especially for Single-PID configuration resulted in only 1.71% error
in final lateral displacement. It reduced about 0.58% error of Single-PID controller
without the H¥ synthesis. However, for Dual-PID configuration, it performs only 55%
in reference tracking. In conclusion, this research has made innovative contributions
to the newly proposed simpler PID tuning method. It is worth mentioning that there is
little information about studies of Dual-H¥PID tuning, and this research could become
a reference for new studies on this topic. |
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