Online Control of a Nonlinear Autonomous Vehicle in the Presence of Network Delay

Ankur Jain and B.K. Roy

In this paper, we have designed a controller for the non-linear autonomous vehicle system. Here, we have used the gain scheduling method for various speed settings to meet the desired performance. We have applied the internal model control tuning rules for calculating the gain of the controller algorithm at various speed levels. The look-up table is used to store the calculated gains at various design points. The appropriate gain is chosen online according to the scheduling policy. Numerical simulation of the process is done in python environment to show the effectiveness of the scheme and found to be working satisfactorily.

Volume 11 | 12-Special Issue

Pages: 344-351

DOI: 10.5373/JARDCS/V11SP12/20193230