상태 공간 외란 관측기를 가지는 자율 차량의 강인한 조향 제어
- Title
- 상태 공간 외란 관측기를 가지는 자율 차량의 강인한 조향 제어
- Other Titles
- Robust steering control for autonomous vehicle with state space disturbance observer approach
- Author
- 정정주
- Keywords
- 자율주행 차량; 디지털 제어 시스템; 상태 추정기; 외란 관측기; Autonomous vehicle; Digital control system; State estimator; Disturbance observer
- Issue Date
- 2011-11
- Publisher
- 한국자동차공학회 / The Korean Society Of Automotive Engineers
- Citation
- 한국자동차공학회 학술대회 및 전시회,Vol.2011 No.11 [2011]1408-1414(7쪽)
- Abstract
- Uncertainty and disturbance significantly affect lane keeping and lane changing control performance. A robust steering control method is proposed, using a state space disturbance observer. Unlike conventional disturbance compensation methods, the proposed state space disturbance observer requires no disturbance model or plant model inversion. Moreover, the disturbance observer is effective in compensating for transient disturbance inputs and thus more useful in improving lane keeping or changing control performance. Application results assure that the proposed robust steering control scheme is a very promising technique in achieving robust steering control performance.
- URI
- http://www.dbpia.co.kr/Journal/ArticleDetail/NODE01762409http://hdl.handle.net/20.500.11754/57641
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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