Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 정정주 | - |
dc.date.accessioned | 2019-12-10T19:16:32Z | - |
dc.date.available | 2019-12-10T19:16:32Z | - |
dc.date.issued | 2018-12 | - |
dc.identifier.citation | ISA TRANSACTIONS, v. 83, page. 214-226 | en_US |
dc.identifier.issn | 0019-0578 | - |
dc.identifier.issn | 1879-2022 | - |
dc.identifier.uri | https://www.sciencedirect.com/science/article/abs/pii/S0019057818303586?via%3Dihub | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/121090 | - |
dc.description.abstract | This paper presents a backstepping control method with an augmented observer for an autonomous lane keeping system. A novel reduced second-order model is also derived for an autonomous lane-keeping system. The proposed reduced model of lateral vehicle motion has the following advantages: (1) The lateral motion of the vehicle can be controlled with only simple linear second-order dynamics via the backstepping procedure; (2) The state variable of the reduced model includes the look-ahead distance similar to that for a human driver; (3) The system functions with unknown parameters and external disturbances can be lumped in the disturbance. An augmented observer is designed to estimate the full state and lumped disturbance, including the system functions with unknown parameters and external disturbances. A backstepping control is developed for improving the lateral control and compensation of the disturbance. The stability of the closed-loop system is demonstrated using the input-to-state stable property. The lateral control performance of the proposed method is validated via numerical simulations using CarSim and MATLAB/Simulink. (C) 2018 ISA. Published by Elsevier Ltd. All rights reserved. | en_US |
dc.description.sponsorship | This work was supported by the Industrial Source Technology Development Program (10044620, Automatic lane change system for novice drivers) funded by the Ministry of Trade, Industry and Energy (MOTIE, Korea) and by the Development of Source Technologies for IT Software Convergence Business (R7117-16-0164, Development of wide area driving environment awareness and cooperative driving technology which are based on V2X wireless communication) funded by the Ministry of Science, ICT and Future Planning, Korea. | en_US |
dc.language.iso | en_US | en_US |
dc.publisher | ELSEVIER SCIENCE INC | en_US |
dc.subject | Vehicle model | en_US |
dc.subject | Backstepping | en_US |
dc.subject | Augmented observer | en_US |
dc.subject | Stability | en_US |
dc.title | Observer-based backstepping control method using reduced lateral dynamics for autonomous lane-keeping system | en_US |
dc.type | Article | en_US |
dc.relation.volume | 83 | - |
dc.identifier.doi | 10.1016/j.isatra.2018.09.016 | - |
dc.relation.page | 214-226 | - |
dc.relation.journal | ISA TRANSACTIONS | - |
dc.contributor.googleauthor | Kang, Chang Mook | - |
dc.contributor.googleauthor | Kim, Wonhee | - |
dc.contributor.googleauthor | Chung, Chung Choo | - |
dc.relation.code | 2018004157 | - |
dc.sector.campus | S | - |
dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
dc.sector.department | DIVISION OF ELECTRICAL AND BIOMEDICAL ENGINEERING | - |
dc.identifier.pid | cchung | - |
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