곡선 도로 외란 보상에 의한 강인한 차량 추적 제어

Abstract

An innovative robust path tracking control scheme is proposed to compensate for a problematic winding road disturbance (WRD) that always appears unless a curvature is zero on the road. We propose how to design a WRD compensator (WRDC) to achieve sufficient tracking control performance on curved roads in the presence of WRD. To verify the usefulness of the robust path tracking control, the WRDC is compared to other conventional methods.