Non-linear PID control method with feed-forward in smart car

Author

Shuhua, Ma ; Wei, Li

Author_Institution

Northeastern Univ. at Qinhuangdao, Qinhuangdao, China

fYear

2009

fDate

17-19 June 2009

Firstpage

462

Lastpage

465

Abstract

This paper discusses the design of a non-linear feed-forward PID controller based on the control system design of smart cars. The resulting design effectively solves the contradiction between speed and stability of the linear PID controller. A simulation about traditional PID, non-linear PID and non-linear feed-forward PID is given to show that the non-linear feed-forward PID dramatically enhances both the dynamic performance and stability. Actual results also indicate that the smart car controlled by the non-linear feed-forward PID controller has a good performance in both stability and speed.

Keywords

automobiles; control system synthesis; feedforward; nonlinear control systems; stability; three-term control; controller design; feedforward; linear PID controller stability; nonlinear PID control method; nonlinear feedforward PID control; smart car; Automatic control; Control systems; Feedforward systems; Military computing; Nonlinear control systems; Nonlinear dynamical systems; Robust control; Stability; Three-term control; Vehicle dynamics; Feed-forward Controller; Non-linear PID Controller; Smart car;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference, 2009. CCDC '09. Chinese

Conference_Location

Guilin

Print_ISBN

978-1-4244-2722-2

Electronic_ISBN

978-1-4244-2723-9

Type

conf

DOI

10.1109/CCDC.2009.5195008

Filename

5195008