Abstract
AUTONOMOUS VEHICLE CONTROL, PART IV: CAR YAW RATE CONTROL USING P-D, I-SECOND-ORDER COMPENSATORS AND PD-PI, 2DOF-2 CONTROLLERS COMPARED WITH A PID CONTROLLER
Galal Ali Hassaan*
ABSTRACT
This paper is the fourth in a series of research papers presenting the control of power turbines using compensators and controllers from the second generation of compensators and PID controllers. It handles the control of car yaw angle using P-D and I-second order compensators, PD-PI and 2DOF-2 controllers with comparison with the use of a PID controller from the first generation of PID controllers. The proposed compensators/controllers are tuned using multiple approaches including the MATLAB optimization toolbox. The step time response of the control system using the four proposed compensators/controllersis presented and compared with using a PID controller to control the same yaw rate and the time-based characteristics are compared. The comparison reveals the best compensator/controller among the five compensators/controllers depending on a quantitative comparison study.
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