| Author | Somphong Thanok |
| Note | A dissertation submitted in partial fulfillment of the requirements for the
degree of Doctor of Engineering in
Mechatronics, School of Engineering Technology |
| Publisher | Asian Institute of Technology |
| Abstract | This dissertation focuses on the implementation and design of longitudinal controller for an AIT intelligent vehicle which was built and implemented at Asian Institute of Technology (AIT) based on sliding mode control algorithm. The proposed controller uses particle swarm optimization (PSO) for optimal tuning of sliding surface and controller gain in the sliding mode controller (SMC). The longitudinal control is conducted via controlling of throttle value angle using PSO based SMC on the simplified first-order linear model of the intelligent vehicle and controlling of brake force using fuzzy logic. In order to achieve the desired headway time, integration of throttle valve angle control and brake force control is required. To obtain the optimal parameters of SMC, two equations; velocity updating and position updating, are applied. Firstly, the performance of the proposed controller is evaluated by using MATLAB simulation and compared with the conventional PD controller. Finally, the experimental results show that the proposed PSO based SMC can perform efficiently in longitudinal control of the AIT intelligent vehicle. |
| Year | 2016 |
| Type | Dissertation |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Manukid Parnichkun;Dailey, Matthew N;Mongkol Ekpanyapong; |
| Examination Committee(s) | Takamasu, Kiyoshi; |