In this paper an on line self-tuned PID controller isudproposed for the control of a car whose goal is to follow another one, at distances and speeds typical in urban traffic. The bestknown tuning mechanism is perhaps the MIT rule, due to its ease of implementation. However, as it is well known, this method does not guarantee the stability of the system, providing good results only for constant or slowly varying reference signals and in the absence of noise, which are unrealistic conditions. When theudreference input varies with an appreciable rate or in presence of noise, eventually it could result in system instability. In this paper an alternative method is proposed that significantly improves the robustness of the system for varying inputs or in the presence ofudnoise, as demonstrated by simulation.
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