90 0

Predictive Control with Sliding Mode for Autonomous Driving Vehicle Lateral Maneuvering

Title
Predictive Control with Sliding Mode for Autonomous Driving Vehicle Lateral Maneuvering
Author
정정주
Keywords
Autonomous vehicle; Vehicle control; Path planning; Predictive control; Sliding mode
Issue Date
2017-05
Publisher
IEEE
Citation
2017 American Control Conference (ACC), page. 2998-3003
Abstract
An innovative paradigm of path planning and control is proposed for autonomous driving vehicles. The scheme applies predictive control with sliding mode to solve the problem of path planning in the vehicle coordinates and control. The path for lateral motion is given by a sliding hyperplane in terms of lateral error and velocity in the vehicle coordinates. Sliding mode control is applied to attain stable reduced order sliding motion on the hyperplane. Predictive control is developed for reaching the hyperplane. Mathematical proof for stability and existence of sliding mode is provided, together with an application to demonstrate utility of the proposed predictive control with sliding mode.
URI
https://ieeexplore.ieee.org/document/7963407https://repository.hanyang.ac.kr/handle/20.500.11754/113979
ISBN
9781509059928; 9781509059942; 9781509045839
ISSN
2378-5861
DOI
10.23919/ACC.2017.7963407
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE