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Double-Loop Controller Tuning Based Fictitious Reference Iterative Tuning (FRIT) for Unmanned Ground Vehicle

This paper proposes on a tuning method for unmanned ground vehicle on heading control with application to the agriculture. The objective is to control the heading of a vehicle for lane tracking in the terrain environment under the unpredictable and unstructured disturbance. The controller for vehicle heading is based upon a double-loop control structure; the inner loop performs the steering system control and the outer loop archives vehicle's heading control. During travelling in the terrain field and the variation of speed, it is not easy to tune the parameters such that it satisfies the desired transient response. Thus, the paper proposes a method for ground vehicle heading tuning with a double-loop control structure by using fictitious reference iterative tuning (FRIT) for heading control so that the performance response matches with the desired response by using only one-shot experimental input-output data. The simulation results are provided to show the effectiveness of the proposed method, comparing to the conventional method.