Implementação e Validação de Controladores Sem Modelo para Controle Longitudinal Veicular

Rodrigo M. França; Bruno A. Angélico; Armando A. M. Laganá

doi:10.20906/CBA2022/3243

Rodrigo M. França Escola Politécnica da Universidade de São Paulo, São Paulo
Bruno A. Angélico Escola Politécnica da Universidade de São Paulo, São Paulo
Armando A. M. Laganá Escola Politécnica da Universidade de São Paulo, São Paulo

DOI: https://doi.org/10.20906/CBA2022/3243

Keywords: Model-Free control, Intelligent controllers, Intelligent PID controllers, Longitudinal vehicular control, Discrete Implementation

Abstract

An intelligent PID (iPID) model-free controller is applied for longitudinal control of a simulated vehicle, acting as a substitute for the driver. An efficient discrete implementation for an intelligent proportional (iP) controller is presented and discussed, especially its ability to attenuate noise. The robustness of the controller used is verified by means of a statistical analysis, focusing on vehicle braking for safety reasons. Comparisons with an equivalent Proportional Integral (PI) controller are performed to verify the advantages and disadvantages of the iP controller.