An intelligent multiple-controller framework for the integrated control of autonomous vehicles

Amir Hussain, Rudwan Abdullah, Erfu Yang, Kevin Gurney

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

5 Citations (Scopus)

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.

LanguageEnglish
Title of host publicationAdvances in Brain Inspired Cognitive Systems
Subtitle of host publication5th International Conference, BICS 2012, Shenyang, China, July 11-14, 2012. Proceedings
EditorsHuaguang Zhang, Amir Hussain, Derong Liu, Zhanshan Wang
Place of PublicationBerlin
Pages92-101
Number of pages10
DOIs
Publication statusPublished - 27 Aug 2012
Event5th International Conference on Advances in Brain Inspired Cognitive Systems, BICS 2012 - Shenyang, China
Duration: 11 Jul 201214 Jul 2012

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
PublisherSpringer Berlin Heidelberg
Volume7366
ISSN (Print)0302-9743

Conference

Conference5th International Conference on Advances in Brain Inspired Cognitive Systems, BICS 2012
CountryChina
CityShenyang
Period11/07/1214/07/12

Fingerprint

Integrated control
Autonomous Vehicles
Controller
Controllers
Supervisory personnel
Directly proportional
Derivatives
Derivative
Framework
Braking
Brakes
Performance Measures
Fuzzy Logic
Placement
Fuzzy logic
Pole
Poles
Tuning
Subsystem
Zero

Keywords

  • autonomous vehicle control
  • fuzzy logic switching and tuning
  • PID controller
  • pole-zero placement controller

Cite this

Hussain, A., Abdullah, R., Yang, E., & Gurney, K. (2012). An intelligent multiple-controller framework for the integrated control of autonomous vehicles. In H. Zhang, A. Hussain, D. Liu, & Z. Wang (Eds.), Advances in Brain Inspired Cognitive Systems: 5th International Conference, BICS 2012, Shenyang, China, July 11-14, 2012. Proceedings (pp. 92-101). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 7366). Berlin. https://doi.org/10.1007/978-3-642-31561-9_10
Hussain, Amir ; Abdullah, Rudwan ; Yang, Erfu ; Gurney, Kevin. / An intelligent multiple-controller framework for the integrated control of autonomous vehicles. Advances in Brain Inspired Cognitive Systems: 5th International Conference, BICS 2012, Shenyang, China, July 11-14, 2012. Proceedings. editor / Huaguang Zhang ; Amir Hussain ; Derong Liu ; Zhanshan Wang. Berlin, 2012. pp. 92-101 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
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Hussain, A, Abdullah, R, Yang, E & Gurney, K 2012, An intelligent multiple-controller framework for the integrated control of autonomous vehicles. in H Zhang, A Hussain, D Liu & Z Wang (eds), Advances in Brain Inspired Cognitive Systems: 5th International Conference, BICS 2012, Shenyang, China, July 11-14, 2012. Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 7366, Berlin, pp. 92-101, 5th International Conference on Advances in Brain Inspired Cognitive Systems, BICS 2012, Shenyang, China, 11/07/12. https://doi.org/10.1007/978-3-642-31561-9_10

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 proceedingConference contribution book

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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.

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Hussain A, Abdullah R, Yang E, Gurney K. An intelligent multiple-controller framework for the integrated control of autonomous vehicles. In Zhang H, Hussain A, Liu D, Wang Z, editors, Advances in Brain Inspired Cognitive Systems: 5th International Conference, BICS 2012, Shenyang, China, July 11-14, 2012. Proceedings. Berlin. 2012. p. 92-101. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/978-3-642-31561-9_10