Feedback control for steering support system based on flatness and particle swarm optimization

Abstract

In this study we give a feedback control method for steering support system. In this method we consider the stability of the path tracking control system under the limitation of steering angle, so that drivers can drive safer and more comfortable. In order to do this, we have derived linearized system from the nonholonomic kinematic system by the differential flatness consideration and linear control law which stabilizes the path tracking control system. Furthermore, feedback gains are tuned to satisfy the closed loop stability and the limitation of the steering angle by using Particle Swarm Optimization. Usefulness of the proposed control method has been demonstrated by experiments using a 1/10 scale robot car.

Adaptive heterogeneous particle swarm optimization with comprehensive learning strategy

“…The PSO algorithm was firstly introduced by Kennedy and Eberhart in 1995. Since the PSO algorithm is easy to implement and has good performance on various problems, it has been applied to a wide range of fields, such as scheduling problems (Araki and Yoshitomi, 2016;Marichelvam et al, 2020;Ding and Gu, 2020), supply chain management (Mousavi et al, 2017;Patne et al, 2018;Zhang et al, 2020), robot path planning (Ayari and Bouamama, 2017;Li and Chou, 2018;Das and Jena, 2020) and many others (Domoto et al, 2007;Duan and Hao, 2014;Kawanishi et al, 2016;Liu and Nishi, 2020;Nonoyama et al, 2022).…”