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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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1 f+ `3 ], q! k- |8 N! O( X& tA novel steering controller for autonomous vehicles is proposed in this paper. For autonomous vehicles, the efficiency
. _2 O8 O/ s, o# M D% \is an important indicator, in order to reduce the training cost and improve the real-time performance while the car is running on " u5 f8 X( g6 C
the road, Offline plus online training is proposed in this paper. Offline plus online training is presented to build a model network
. G( J$ }/ c" f# P* E5 nof vehicle steering and correct it in real time. Then we adopt a policy iteration adaptive dynamic programming (ADP) to get the
+ x! e7 V' V; r6 V% |8 uoptimal control law and deploy it to autonomous vehicles. Eventually, the performance of the controller was evaluated using
s# T9 i8 d, R8 i" C) B: eMatlab simulation. Results verify the feasibility of the theory and show the steering controller is one kind of effective, smooth
3 y5 t$ g. c0 v. K/ V! k0 x: ycontroller for autonomous vehicles' system. 2 ]7 \$ m/ K' Y/ h; J+ f5 u) U
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A Novel Steering Control for Real Autonomous Vehicles via PI Adaptive.pdf
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