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

6 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.

Original 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

Keywords

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

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  • 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).. https://doi.org/10.1007/978-3-642-31561-9_10