최적 시변 슬라이딩 모드 초평면에 의한 자율주행 정지 시스템

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.