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[书籍资源] A Novel Steering Control for Real Autonomous Vehicles via PI Adaptive Dynami...

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    2021-8-11 17:59
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    发表于 2020-11-10 15:34 |只看该作者 |倒序浏览
    |招呼Ta 关注Ta
    A Novel Steering Control for Real Autonomous Vehicles via PI Adaptive

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    Dynamic Programming  

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    8 c# ^* p) o. s8 FA novel steering controller for autonomous vehicles is proposed in this paper. For autonomous vehicles, the efficiency
    ' I# x4 `( P; R6 vis an important indicator, in order to reduce the training cost and improve the real-time performance while the car is running on
    - ^; S4 j) x0 i9 Tthe road, Offline plus online training is proposed in this paper. Offline plus online training is presented to build a model network . b; L2 i7 ?% E7 ~0 M. O- L$ g
    of vehicle steering and correct it in real time. Then we adopt a policy iteration adaptive dynamic programming (ADP) to get the
    , v7 n) [! S/ e" h% X! x4 Voptimal control law and deploy it to autonomous vehicles. Eventually, the performance of the controller was evaluated using 2 A' a0 x* ~$ `8 j" ?
    Matlab simulation. Results verify the feasibility of the theory and show the steering controller is one kind of effective, smooth . ?( W, q% f; {( W0 }5 J
    controller for autonomous vehicles' system. ) e3 l2 N# k" b9 k1 c

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    A Novel Steering Control for Real Autonomous Vehicles via PI Adaptive.pdf

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