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Updated: Jun 11, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
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基于前+预测性LQR算法与GA优化和PID补偿的智能车辆横向控制战略研究

Zhu-An Zheng1, Zimo Ye2, Xiangyu Zheng1

  • 1School of Automotive Engineering, Yancheng Institute of Technology, No. 1 Middle Hope Avenue, Tinghu District, Yancheng City, 224000, Jiangsu Province, China.

Scientific reports
|September 27, 2024
PubMed
概括

本研究介绍了针对智能汽车自动驾驶系统的优化LQR算法,增强横向运动控制. 该方法显著提高了在机动期间的跟踪精度和车辆稳定性.

关键词:
自动驾驶自动驾驶的自动驾驶.遗传算法 遗传算法 遗传算法侧向运动控制器线性-正方形的最佳控制路径跟踪跟踪方式

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PD Controller: Design01:26

PD Controller: Design

In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
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PID Controller01:19

PID Controller

Proportional-Integral-Derivative (PID) controllers are widely used in various control systems to enhance stability and performance. In a thermostat, it adjusts heating or cooling based on the temperature difference between the actual and desired levels. They are often used in automotive speed systems, effectively managing sudden speed changes while maintaining a constant speed under varying conditions. On the other hand, PI controllers, commonly employed in voltage regulation, enhance stability...
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Root-Locus Method01:19

Root-Locus Method

A cruise control system in a car is designed to maintain a specified speed automatically by adjusting the gas pedal. The system continuously measures the vehicle's speed and makes fine adjustments to the pedal to achieve this goal. The root locus method is particularly useful for understanding how the cruise control system's behavior changes under varying conditions, such as when the car goes uphill, downhill, or faces strong wind resistance.
This system can be represented by a block...
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PI Controller: Design01:24

PI Controller: Design

Proportional Integral (PI) controllers are a fundamental component in modern control systems, widely used to enhance performance and mitigate steady-state errors. They are particularly effective in applications such as automatic brightness adjustment on smartphones, where they excel at mitigating steady-state errors for step-function inputs. Unlike PD controllers, which require time-varying errors to function optimally, PI controllers leverage their integral component to address residual...
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Controller Configurations01:22

Controller Configurations

Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
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Feedback control systems01:26

Feedback control systems

Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
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