Parameter optimization of PID class of yaw rate controllers

Deur, Joško and Assadian, Francis and Hancock, Matthew (2010) Parameter optimization of PID class of yaw rate controllers. = Parameter optimization of PID class of yaw rate controllers. In: UKACC International Conference on CONTROL 2010, 07-10.09.2010., Coventry, United Kingdom.

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Abstract

The paper presents parameter optimization of a PID class of vehicle yaw rate controllers based on a linearized "bicycle"-type vehicle dynamics model. Two complementary optimization techniques are used: (i) analytical design based on the damping optimum criterion, and (ii) numerical parameter optimization. The damping optimum method is applied for the full second-order lead-lag vehicle model and a simplified first-order lag model. Different optimization approaches and PID controller types are verified and compared by computer simulations for different actuator bandwidths and vehicle velocities. A comparative numerical analysis on the control system sensitivity with respect to measurement noise and process parameter variations is also presented.

Item Type:	Conference or Workshop Item (Lecture)
Keywords (Croatian):	numerical parameters; optimization approach; optimization techniques; parameter optimization; PID controllers; process parameter variations; vehicle dynamics models; yaw rate control; computer simulation; controllers; damping; electric control equipment; sensitivity analysis; optimization
Subjects:	TECHNICAL SCIENCE > Mechanical Engineering
Divisions:	900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Indexed in Web of Science:	No
Indexed in Current Contents:	No
Date Deposited:	17 Apr 2015 06:28
Last Modified:	04 Oct 2018 12:27
URI:	http://repozitorij.fsb.hr/id/eprint/3598

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