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.
| Language | English |
|---|---|
| Title of host publication | Advances in Brain Inspired Cognitive Systems |
| Subtitle of host publication | 5th International Conference, BICS 2012, Shenyang, China, July 11-14, 2012. Proceedings |
| Editors | Huaguang Zhang, Amir Hussain, Derong Liu, Zhanshan Wang |
| Place of Publication | Berlin |
| Pages | 92-101 |
| Number of pages | 10 |
| DOIs | |
| Publication status | Published - 27 Aug 2012 |
| Event | 5th International Conference on Advances in Brain Inspired Cognitive Systems, BICS 2012 - Shenyang, China Duration: 11 Jul 2012 → 14 Jul 2012 |
Publication series
| Name | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
|---|---|
| Publisher | Springer Berlin Heidelberg |
| Volume | 7366 |
| ISSN (Print) | 0302-9743 |
Conference
| Conference | 5th International Conference on Advances in Brain Inspired Cognitive Systems, BICS 2012 |
|---|---|
| Country | China |
| City | Shenyang |
| Period | 11/07/12 → 14/07/12 |
Fingerprint
Keywords
- autonomous vehicle control
- fuzzy logic switching and tuning
- PID controller
- pole-zero placement controller
Cite this
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An intelligent multiple-controller framework for the integrated control of autonomous vehicles. / Hussain, Amir; Abdullah, Rudwan; Yang, Erfu; Gurney, Kevin.
Advances in Brain Inspired Cognitive Systems: 5th International Conference, BICS 2012, Shenyang, China, July 11-14, 2012. Proceedings. ed. / Huaguang Zhang; Amir Hussain; Derong Liu; Zhanshan Wang. Berlin, 2012. p. 92-101 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 7366).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution book
TY - GEN
T1 - An intelligent multiple-controller framework for the integrated control of autonomous vehicles
AU - Hussain, Amir
AU - Abdullah, Rudwan
AU - Yang, Erfu
AU - Gurney, Kevin
PY - 2012/8/27
Y1 - 2012/8/27
N2 - 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.
AB - 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.
KW - autonomous vehicle control
KW - fuzzy logic switching and tuning
KW - PID controller
KW - pole-zero placement controller
UR - http://www.scopus.com/inward/record.url?scp=84865203792&partnerID=8YFLogxK
UR - http://link.springer.com/
UR - http://www.conference123.org/bics2012/
U2 - 10.1007/978-3-642-31561-9_10
DO - 10.1007/978-3-642-31561-9_10
M3 - Conference contribution book
SN - 9783642315602
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 92
EP - 101
BT - Advances in Brain Inspired Cognitive Systems
A2 - Zhang, Huaguang
A2 - Hussain, Amir
A2 - Liu, Derong
A2 - Wang, Zhanshan
CY - Berlin
ER -