Control basado en PID inteligentes: aplicación al control de crucero de un vehículo a bajas velocidades

Jorge Villagrá; Vicente Milanés; Joshué Pérez; Teresa de Pedro

doi:10.1016/S1697-7912(10)70059-5

Autores/as

Jorge Villagrá UPM-CSIC
Vicente Milanés UPM-CSIC
Joshué Pérez UPM-CSIC
Teresa de Pedro UPM-CSIC

DOI:

https://doi.org/10.1016/S1697-7912(10)70059-5

Palabras clave:

Controladores PID, Sistemas de control no lineales, Vehículos autónomos, Control de velocidad

Resumen

A pesar de sus limitaciones, la técnica de control más utilizada en el mundo industrial sigue siendo todavía hoy el control PID. En este artículo se presenta un nuevo enfoque, el control basado en PID inteligentes (i-PID), que aprovecha las virtudes que han hecho tan popular al PID, mejorando uno de sus puntos débiles: la perdida de prestaciones en presencia de términos no-lineales o de dinámicas no modeladas. Para ilustrar las características del i-PID, se ha probado su comportamiento en una aplicación real, el control robusto de velocidad sobre un vehículo experimental en entornos urbanos.

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Citas

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