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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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

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