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Double-Loop PID Control with Parameter Optimization for an Autonomous Electric Vehicle

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Advances in Engineering Research and Application (ICERA 2022)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 602))

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Abstract

An autonomous vehicle is a fascinating and trendy topic from both research and practical perspectives. It can be said that this is a development tendency for future automobiles and attracts the attention and a substantial amount of finance from big automobile corporations worldwide. In terms of technology, driving a driverless car puts a great deal of pressure since there is only one control input (steering angle) that must simultaneously control the position and yaw angle of the vehicle. Moreover, the position of the vehicle over time is a function of the yaw angle. In order to solve the problem, this study proposes a new approach with the use of a dual-loop Proportional Integral Derivative (PID) controller combined with optimizing parameters based on the Particle Swarm Optimization (PSO) algorithm to improve the control performance. By simulating cars following given trajectories based on the car's kinematics and dynamics, the efficiency and feasibility of the work can be assessed. The numerical simulation results of both the established PID controller and PSO algorithm are given at the end of the presentation.

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Acknowledgments

The study was supported by the Institute of Mechanical Engineering, Vietnam Maritime University.

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Authors and Affiliations

  1. Institute of Mechanical Engineering, Vietnam Maritime University, Haiphong, Vietnam

    Quoc-Dong Hoang, Le Dinh Nghiem, Nguyen Duc Toan, Pham Khanh Hung, Luu Quang Do & Dang Trung Hieu

  2. Ha Noi University of Science and Technology, Dai Co Viet 01, Ha Noi, Vietnam

    Tung Lam Nguyen

  3. School of Mechanical Engineering, Hanoi University of Science and Technology, Hanoi, 100000, Vietnam

    Le Sy Dung

Authors
  1. Quoc-Dong Hoang
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  2. Le Dinh Nghiem
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  3. Nguyen Duc Toan
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  4. Pham Khanh Hung
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  5. Luu Quang Do
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  6. Dang Trung Hieu
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  7. Tung Lam Nguyen
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  8. Le Sy Dung
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Corresponding author

Correspondence to Le Dinh Nghiem .

Editor information

Editors and Affiliations

  1. Faculty of Electronic Engineering, Thai Nguyen University of Technology, Thai Nguyen, Vietnam

    Duy Cuong Nguyen

  2. Faculty of Mechanical Engineering, Thai Nguyen University of Technology, Thai Nguyen, Vietnam

    Ngoc Pi Vu

  3. Vietnam Association for Science Editing, Hanoi University of Science and Technology, Hanoi, Vietnam

    Banh Tien Long

  4. Institute for Automation and Systems Engineering, Ilmenau University of Technology (IUT), Ilmenau, Germany

    Horst Puta

  5. Department of Computer Science and Automation, Ilmenau University of Technology (IUT), Ilmenau, Germany

    Kai-Uwe Sattler

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Hoang, QD. et al. (2023). Double-Loop PID Control with Parameter Optimization for an Autonomous Electric Vehicle. In: Nguyen, D.C., Vu, N.P., Long, B.T., Puta, H., Sattler, KU. (eds) Advances in Engineering Research and Application. ICERA 2022. Lecture Notes in Networks and Systems, vol 602. Springer, Cham. https://doi.org/10.1007/978-3-031-22200-9_46

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  • DOI: https://doi.org/10.1007/978-3-031-22200-9_46

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-22199-6

  • Online ISBN: 978-3-031-22200-9

  • eBook Packages: EngineeringEngineering (R0)

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