GA-PID/NN-PID
GA-PID/NN-PID
The main control tasks in autonomous vehicles are steering (lateral) and speed (longitudinal) control. PID controllers are widely used in the industry because of their simplicity and good performance, but they are difficult to tune and need additional adaptation to control nonlinear systems with varying parameters. In this paper, the longitudinal control task is addressed by implementing adaptive PID control
using two different approaches: Genetic Algorithms (GA-PID) and then Neural Networks (NN-PID) respectively. The vehicle
nonlinear longitudinal dynamics are modeled using Powertrain blockset library. Finally, simulations are performed to assess
and compare the performance of the two controllers subject to external disturbances.