Adaptive modified Stanley controller with fuzzy supervisory system for trajectory tracking of an autonomous armoured vehicle
In developing path tracking controller for autonomous vehicles, a properly tuned controller will work well for a certain range of driving conditions but may need to be re-tuned for others. This study presents the development of an adaptive controller with fuzzy supervisory system for trajectory trac...
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| Format: | Article |
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Elsevier B. V.
2018
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| _version_ | 1796864099072606208 |
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| author | Amer, Noor Hafizah Hudha, Khisbullah Zamzuri, Hairi Aparow, Vimal Rau Zainal Abidin, Amar Faiz Abdul Kadir, Zulkiffli Murrad, Muhamad |
| author_facet | Amer, Noor Hafizah Hudha, Khisbullah Zamzuri, Hairi Aparow, Vimal Rau Zainal Abidin, Amar Faiz Abdul Kadir, Zulkiffli Murrad, Muhamad |
| author_sort | Amer, Noor Hafizah |
| collection | ePrints |
| description | In developing path tracking controller for autonomous vehicles, a properly tuned controller will work well for a certain range of driving conditions but may need to be re-tuned for others. This study presents the development of an adaptive controller with fuzzy supervisory system for trajectory tracking control of an autonomous armoured vehicle. A knowledge database is built using Particle Swarm Optimisation which is the mainframe of the Fuzzy supervisory system in adapting to various trajectories and speed. The proposed controller is simulated on a nonlinear vehicle model, and experimental results for the controller are presented to evaluate the proposed controller. |
| first_indexed | 2024-03-05T20:36:45Z |
| format | Article |
| id | utm.eprints-85718 |
| institution | Universiti Teknologi Malaysia - ePrints |
| last_indexed | 2024-03-05T20:36:45Z |
| publishDate | 2018 |
| publisher | Elsevier B. V. |
| record_format | dspace |
| spelling | utm.eprints-857182020-07-23T07:12:13Z http://eprints.utm.my/85718/ Adaptive modified Stanley controller with fuzzy supervisory system for trajectory tracking of an autonomous armoured vehicle Amer, Noor Hafizah Hudha, Khisbullah Zamzuri, Hairi Aparow, Vimal Rau Zainal Abidin, Amar Faiz Abdul Kadir, Zulkiffli Murrad, Muhamad T Technology (General) In developing path tracking controller for autonomous vehicles, a properly tuned controller will work well for a certain range of driving conditions but may need to be re-tuned for others. This study presents the development of an adaptive controller with fuzzy supervisory system for trajectory tracking control of an autonomous armoured vehicle. A knowledge database is built using Particle Swarm Optimisation which is the mainframe of the Fuzzy supervisory system in adapting to various trajectories and speed. The proposed controller is simulated on a nonlinear vehicle model, and experimental results for the controller are presented to evaluate the proposed controller. Elsevier B. V. 2018-07 Article PeerReviewed Amer, Noor Hafizah and Hudha, Khisbullah and Zamzuri, Hairi and Aparow, Vimal Rau and Zainal Abidin, Amar Faiz and Abdul Kadir, Zulkiffli and Murrad, Muhamad (2018) Adaptive modified Stanley controller with fuzzy supervisory system for trajectory tracking of an autonomous armoured vehicle. Robotics and Autonomous Systems, 105 . pp. 94-111. ISSN 0921-8890 http://dx.doi.org/10.1016/j.robot.2018.03.006 |
| spellingShingle | T Technology (General) Amer, Noor Hafizah Hudha, Khisbullah Zamzuri, Hairi Aparow, Vimal Rau Zainal Abidin, Amar Faiz Abdul Kadir, Zulkiffli Murrad, Muhamad Adaptive modified Stanley controller with fuzzy supervisory system for trajectory tracking of an autonomous armoured vehicle |
| title | Adaptive modified Stanley controller with fuzzy supervisory system for trajectory tracking of an autonomous armoured vehicle |
| title_full | Adaptive modified Stanley controller with fuzzy supervisory system for trajectory tracking of an autonomous armoured vehicle |
| title_fullStr | Adaptive modified Stanley controller with fuzzy supervisory system for trajectory tracking of an autonomous armoured vehicle |
| title_full_unstemmed | Adaptive modified Stanley controller with fuzzy supervisory system for trajectory tracking of an autonomous armoured vehicle |
| title_short | Adaptive modified Stanley controller with fuzzy supervisory system for trajectory tracking of an autonomous armoured vehicle |
| title_sort | adaptive modified stanley controller with fuzzy supervisory system for trajectory tracking of an autonomous armoured vehicle |
| topic | T Technology (General) |
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