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标题: A Novel Steering Control for Real Autonomous Vehicles via PI Adaptive Dynami... [打印本页]
作者: 杨利霞 时间: 2020-11-10 15:34
标题: A Novel Steering Control for Real Autonomous Vehicles via PI Adaptive Dynami...
A Novel Steering Control for Real Autonomous Vehicles via PI Adaptive
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Dynamic Programming
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2 c. a6 k/ T5 F% R6 B" P& LA novel steering controller for autonomous vehicles is proposed in this paper. For autonomous vehicles, the efficiency
+ T( D. V8 ^6 K4 Uis an important indicator, in order to reduce the training cost and improve the real-time performance while the car is running on
) u8 O- X8 x% B$ |6 Gthe road, Offline plus online training is proposed in this paper. Offline plus online training is presented to build a model network . q3 b4 G$ [; j S, y
of vehicle steering and correct it in real time. Then we adopt a policy iteration adaptive dynamic programming (ADP) to get the
3 s; K1 s' T$ U5 V' ~" V( ?optimal control law and deploy it to autonomous vehicles. Eventually, the performance of the controller was evaluated using
/ ?9 s: x5 i3 ^" zMatlab simulation. Results verify the feasibility of the theory and show the steering controller is one kind of effective, smooth $ n* V2 ~6 O' T2 ]% I7 `! V
controller for autonomous vehicles' system.
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A Novel Steering Control for Real Autonomous Vehicles via PI Adaptive.pdf
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