Design and implementation of controllers for a platooning system of vehicles following a path
Visualitza/Obre
Estadístiques de LA Referencia / Recolecta
Inclou dades d'ús des de 2022
Cita com:
hdl:2117/333558
Tipus de documentProjecte Final de Màster Oficial
Data2020-07-09
Condicions d'accésAccés obert
Llevat que s'hi indiqui el contrari, els
continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
:
Reconeixement-NoComercial-CompartirIgual 3.0 Espanya
Abstract
The goal of this thesis is to implement three different controllers, based on sliding mode control algorithms for a platooning system, to test each
one of the controllers and analyze its performance in order to decide if it is feasible. The work is based on a scientific paper that aims to find an Adaptive
Cruise Control algorithm for platooning systems and control the nonlinear system using sliding mode control techniques. The working model is a differential steering robot with two motorized front wheels and a castor wheel behind, equipped with ultrasound sensors in order to measure the distance to the car ahead and an infrared array sensor used to track a line. The control algorithm runs in real time on an embedded system along with all the sensors, it has been programmed in C, since it is a low level programming language and allow to have a more efficient code.
Col·leccions
Fitxers | Descripció | Mida | Format | Visualitza |
---|---|---|---|---|
mater-thesis.pdf | 6,928Mb | Visualitza/Obre |