최적 시변 슬라이딩 모드 초평면에 의한 자율주행 정지 시스템
- Title
- 최적 시변 슬라이딩 모드 초평면에 의한 자율주행 정지 시스템
- Other Titles
- Autonomous Driving Stop System using Optimal Time-varying Sliding Hyperplane
- Author
- 정정주
- Keywords
- 차량 종방향 제어; 정지 시스템; 시변 슬라이딩 초평면; 슬라이딩 모드 제어기; Vehicle Longitudinal Control; Stop System; Time-varying Sliding Hyperplane; Sliding Mode Controller
- Issue Date
- 2020-11
- Publisher
- 한국자동차공학회
- Citation
- 2020년 한국자동차공학회 추계학술대회 및 전시회, page. 757-761
- Abstract
- In this paper, we propose a stop algorithm using time-varying sliding hyperplane. To control velocity and stop at a reference point, time-varying sliding hyperplane is designed. The proposed method uses an initial longitudinal position, an initial longitudinal velocity, and the reference point. Designing a sliding hyperplane in terms of longitudinal position and velocity is presented such that the longitudinal position error converges exponentially. The simulation-based optimization approach is utilized to obtain the optimal time-varying sliding hyperplane. To validate the effectiveness of the proposed system, we utilize MATLAB/Simulink. The proposed method is compared with conventional sliding mode controller and linear quadratic regulator. From the comparative study, we confirmed that the proposed system achieved stop control without overshoot and chattering, compared with the other methods.
- URI
- https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE10519455https://repository.hanyang.ac.kr/handle/20.500.11754/172708
- ISSN
- 2713-7171
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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