{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/optimized-self-adaptive-pid-speed-control-for","title":"Optimized self-adaptive PID speed control for autonomous vehicles","arxiv_id":null,"date":"2021-09-02","proceeding":"International Conference on Automation and Computing (ICAC) 2021 9","authors":["Yassine Kebbati","Naima Ait-Oufroukh","Vincent Vigneron","Dalil Ichalal","Dominique Gruyer"],"abstract":"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.","url_abs":"https://ieeexplore.ieee.org/abstract/document/9594131","url_pdf":"https://hal.science/hal-03442081/document","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"optimized-self-adaptive-pid-speed-control-for","repo_url":"https://github.com/yassinekebbati/Self-adaptive-PID","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"tf","reach":null}],"tasks":[{"task_slug":"autonomous-vehicles","task_name":"Autonomous Vehicles"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}