Designing a nonlinear PID neural controller of differential braking system for vehicle model based on particle swarm optimization
Other Title(s)
ﺗﺻﻣﯾم ﻣﺳﯾطر ﻋﺻﺑﻲ (PID) ﻷﺧطﻲ ﻟﻧظﺎم اﻟﻛﺑﺢ اﻟﻔرﻗﻲ ﻟﻣرﻛﺑﺔ أﺳﺎﺳﮫ أﻣﺛﻠﯾﺔ ﺣﺷد اﻟﺟﺳﯾﻣﺎت
Author
al-Araji, Ahmad Sabah Abd al-Amir
Source
Engineering and Technology Journal
Issue
Vol. 32, Issue 1A (31 Jan. 2014), pp.197-214, 18 p.
Publisher
Publication Date
2014-01-31
Country of Publication
Iraq
No. of Pages
18
Main Subjects
Topics
Abstract AR
أن هذا البحث يقدم مسيطر عصبي (PID) لأخطي لنموذج مركبة ثنائية الأبعاد لكي يحسن استقرارية و أداء الديناميكي للمركبة من خلال تحقيق معدل الدوران المطلوب و تقليل السرعة الجانبية في أقل وقت ممكن لمنع المركبة من الانزلاق خارج المنعطف. إن هيكلية المسيطر العصبي (PID) مبني على أساس الشبكة العصبية و تنغيم عناصر المسيطر (PID) تتم من خلال تقنية خوارزمية أمثلية حشد الجسيمات لأنها خوارزمية سهلة و سريعة التعلم. إن نظام الكبح الفرقي و زاوية توجيه العجلات الأمامية هي اخرج المسيطر العصبي (PID) اللاخطي الذي يسيطر بصورة تلقائية على الحركة الجانبية للمركبة عندما تدور حول المنعطف.
Abstract EN
This paper presents a nonlinear PID neural controller for the 2-DOF vehicle model in order to improve stability and performances of vehicle lateral dynamics by achieving required yaw rate and reducing lateral velocity in a short period of time to prevent vehicle from sliding out the curvature.
The scheme of the discrete-time PID control structure is based on neural network and tuned the parameters of the nonlinear PID neural controller by using a particle swarm optimization PSO technique as a simple and fast training algorithm.
The differential braking system and front wheel steering angle are the outputs of the nonlinear PID neural controller that has automatically controlled the vehicle lateral motion when the vehicle rotates the curvatures.
Simulation results show the effectiveness of the proposed control algorithm in terms of the best transient state outputs of the system and minimum tracking errors as well as smoothness control signals obtained with bounded external disturbances.
American Psychological Association (APA)
al-Araji, Ahmad Sabah Abd al-Amir. 2014. Designing a nonlinear PID neural controller of differential braking system for vehicle model based on particle swarm optimization. Engineering and Technology Journal،Vol. 32, no. 1A, pp.197-214.
https://search.emarefa.net/detail/BIM-371124
Modern Language Association (MLA)
al-Araji, Ahmad Sabah Abd al-Amir. Designing a nonlinear PID neural controller of differential braking system for vehicle model based on particle swarm optimization. Engineering and Technology Journal Vol. 32, no. 1A (2014), pp.197-214.
https://search.emarefa.net/detail/BIM-371124
American Medical Association (AMA)
al-Araji, Ahmad Sabah Abd al-Amir. Designing a nonlinear PID neural controller of differential braking system for vehicle model based on particle swarm optimization. Engineering and Technology Journal. 2014. Vol. 32, no. 1A, pp.197-214.
https://search.emarefa.net/detail/BIM-371124
Data Type
Journal Articles
Language
English
Notes
Includes appendices : p. 214
Record ID
BIM-371124