|Appears in Collections:
|Computing Science and Mathematics Book Chapters and Sections
|A basal ganglia inspired soft switching approach to the motion control of a car-like autonomous vehicle
|The Royal Society of Edinburgh
|Yang E, Hussain A & Gurney K (2013) A basal ganglia inspired soft switching approach to the motion control of a car-like autonomous vehicle. In: Liu D, Alippi C, Zhao D & Hussain A (eds.) Advances in Brain Inspired Cognitive Systems: 6th International Conference, BICS 2013, Beijing, China, June 9-11, 2013. Proceedings. Lecture Notes in Computer Sci, 7888. 6th International Conference on Brain Inspired Cognitive Systems, BICS 2013, Beijing, China, 09.06.2013-11.06.2013. Berlin Heidelberg: Springer, pp. 245-254. http://link.springer.com/chapter/10.1007/978-3-642-38786-9_28#; https://doi.org/10.1007/978-3-642-38786-9_28
multiple controller systems
|Lecture Notes in Computer Sci, 7888
|This paper presents a new brain-inspired, switching control approach for a car-like autonomous vehicle using a basal ganglia (BG) model as an action selection mechanism. The problem domain has challenging nonholonomic and state constraints which imply no single stabilizing controller solution is possible by time-invariant smooth state feedback. To allow the BG make the correct controller selection from a family of candidate motion controllers, a fuzzy logic-based salience model using reference and tracking error only is developed, and applied in a soft switching control mechanism. To demonstrate the effectiveness of our approach for motion tracking control, we show effective control for a circular trajectory tracking application. The performance and advantages of the proposed fuzzy salience model and the BG-based soft switching control scheme against a traditional single control method are compared.
|The publisher does not allow this work to be made publicly available in this Repository. Please use the Request a Copy feature at the foot of the Repository record to request a copy directly from the author. You can only request a copy if you wish to use this work for your own research or private study.
|A Basal Ganglia Inspired Soft Switching Approach.pdf
|Fulltext - Published Version
|Under Embargo until 3000-05-31 Request a copy
Note: If any of the files in this item are currently embargoed, you can request a copy directly from the author by clicking the padlock icon above. However, this facility is dependent on the depositor still being contactable at their original email address.
This item is protected by original copyright
Items in the Repository are protected by copyright, with all rights reserved, unless otherwise indicated.
The metadata of the records in the Repository are available under the CC0 public domain dedication: No Rights Reserved https://creativecommons.org/publicdomain/zero/1.0/
If you believe that any material held in STORRE infringes copyright, please contact email@example.com providing details and we will remove the Work from public display in STORRE and investigate your claim.