Vision based closed loop pid controller design and implementation for autonomous car

Author(s):  
C.K. Chandni ◽  
V.V. Sajith Variyar ◽  
K. Guruvayurappan
Author(s):  
Zhizheng Wu ◽  
Azhar Iqbal ◽  
Foued Ben Amara

In this paper, a decentralized robust PID controller design method is proposed for multi-input multi-output systems. The system model is first decoupled in the low frequency range, and only the diagonal entries in the DC-decoupled plant model are retained. To deal with the resulting unmodeled high frequency dynamics, a decentralized robust PID controller design method is proposed, where the robust stability and transient response performance of the resulting closed loop system are formulated as a multi-objective H∞/H2 static output feedback problem. The desired parameters of the PID controller are determined by solving a static output feedback problem using linear matrix inequalities (LMIs). Finally, the performance of the proposed control algorithm is experimentally evaluated on the adaptive optics system involving a prototype magnetic fluid deformable mirror (MFDM). The experimental results illustrate the effectiveness of the proposed control algorithm for the MFDM surface shape tracking in the closed loop adaptive optics system.


2016 ◽  
Vol 39 (12) ◽  
pp. 1785-1797 ◽  
Author(s):  
Feng Pan ◽  
Lu Liu ◽  
Dingyu Xue

In this paper, we used a Qball-X4 quad-rotor unmanned aerial vehicle (UAV) which was developed by the Quanser Company as the experimental platform. First, a fundamental mathematical model of the Qball-X4 quad-rotor UAV was built and a simulation model was set up based on the proposed mathematical model; then, a double closed-loop optimal proportional–integral–derivative (PID) controller based on integral of time multiplied by absolute error (ITAE) indices was designed according to the model structure. In consideration of the possible system error and data delay, we designed a corresponding Kalman filter, which can estimate the target trajectory and be put before the proposed PID controller to ensure their validity. Finally, simulation results of the system with presented PID controller and Kalman filter were shown to verify their effectiveness.


2013 ◽  
Vol 23 (10) ◽  
pp. 1401-1414 ◽  
Author(s):  
Konstantinos G. Papadopoulos ◽  
Nikolaos D. Tselepis ◽  
Nikolaos I. Margaris

2011 ◽  
Vol 31 (2) ◽  
pp. 483-484 ◽  
Author(s):  
Shu-qing LI ◽  
Sheng-xiu ZHANG ◽  
Yu-dong ZHANG ◽  
Bo HU

2013 ◽  
Vol 303-306 ◽  
pp. 1167-1170
Author(s):  
Zhi Yi Xu ◽  
Xiang Jun Zhang ◽  
Zhen Liu

The paper proposes a new method based on the Viere theorem to decide the range containing the optimal parameters. The method can accelerate the parameters search speed on the computer and avoid some unnecessary job for PID controller design. It can be acted as a criterion to judge the stability of the closed loop system.


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