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dc.contributor.advisorJensen, Matthew
dc.contributor.authorSalfer-Hobbs, Matthew Benton
dc.date.accessioned2019-09-17T16:12:03Z
dc.date.available2019-09-17T16:12:03Z
dc.date.created2019-05
dc.date.issued2019-05
dc.date.submittedMay 2019
dc.identifier.urihttp://hdl.handle.net/11141/2896
dc.descriptionThesis (M.S.) - Florida Institute of Technology, 2019en_US
dc.description.abstractThis paper discusses the design and simulation of lane keeping and velocity controllers for a Polaris GEM e2. The controllers were designed to be implemented in Florida Institute of Technology’s entry for the Intelligent Ground Vehicle Competition self-drive challenge. The software and physical implementation of actuators were included to control the acceleration, braking, and steering. The accelerator pedal was replaced with a set of digitally controlled potentiometers, the brake pedal was replaced with a linear actuator, and the steering column was replaced with a stepper motor. Each actuator was controlled by a Raspberry Pi 3. A sliding mode controller was designed and its performance was evaluated against a PID controller for lane keeping. The sliding mode controller had a consistently smaller lateral error, especially during changes to the radius of the curve. Velocity control was simulated using a derived dynamic model for the longitudinal motion of the car. An adaptive control method was designed for velocity control and compared to PID. The adaptive control method reduced the error in longitudinal position during both acceleration and deceleration.en_US
dc.format.mimetypeapplication/pdf
dc.language.isoen_USen_US
dc.rightsCopyright held by author.en_US
dc.titleAcceleration, Braking, and Steering Controller for Polaris GEM e2en_US
dc.typeThesisen_US
dc.date.updated2019-08-12T15:10:45Z
thesis.degree.nameMaster of Science in Mechanical Engineeringen_US
thesis.degree.levelMastersen_US
thesis.degree.disciplineMechanical Engineeringen_US
thesis.degree.departmentMechanical and Civil Engineeringen_US
thesis.degree.grantorFlorida Institute of Technologyen_US
dc.type.materialtext


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