A Comparative Study of PID and SMC Controller for Nonlinear Unmanned Ground All Terrain Vehicle

被引：0

作者：

Dave, Piyush N. ^{[1
]}

Patil, J. B. ^{[2
]}

机构：

[1] Univ Coll Engn, EXTC Engn Dept, Kaman 401212, Vasai Thane, India

[2] Univ Coll Engn, Kaman 401212, Vasai Thane, India

来源：

2015 INTERNATIONAL CONFERENCE ON TRENDS IN AUTOMATION, COMMUNICATIONS AND COMPUTING TECHNOLOGY (I-TACT-15) | 2015年

关键词：

Mathematical modeling; Unmanned ground all terrain vehicle; PID controller; slideing mode controller;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An unmanned ground all terrain vehicle (UGATV) can moves across the any surface of the ground (terrain) without intervention of human. It is autonomous in nature and it should be capable of operating over a wide variety of terrain, operating conditions. Hence selection of appropriate controller is require. In this paper, PID and SMC controller for UGATV is designed and is implemented in MATLAB environment. Thereafter performance of UGATV with PID controller and UGATV with SMC is compared for different disturbances such as sudden break (obstacle), change in mass of UGATV, change of slope of road (terrain). These controllers are designed using linearized transfer function then applied to nonlinear model of UGATV. Simulation results are generated for various transient conditions and disturbance levels.

引用

页数：5