Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
Adaptive Speed Control of a Robot Vehicle by Neural Networks
Masami IWATSUKIMinoru KODAIRATakao OHUCHI
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1992 Volume 5 Issue 4 Pages 131-138

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Abstract

This paper proposes an adaptive speed control method for a robot vehicle of which dynamics greatly varies by the steering angle. The proposed system consists of the PID controller and two neural networks, which tune not only a set of PID gain parameters but also a feed-forward compensation. These PID gain tuner and feed-forward compensator generate the adequate PID gains and offset according to steering angles and target speeds.
A computer simulation of vehicle motion is carried out to. show the effectiveness of a proposed control method.

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