四輪操舵車両のロバスト車線追従制御(機械力学,計測,自動制御)

概要

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If the driving matrix B is positive definite matrix in n-input n-output systems such as x^^・(t)=Ax(t)+Bu(t), x(t)∈R^n, it is very easy to design robust controller for the systems. In this paper we propose a robust lane keeping controller developed by using the fact above. First of all, a method to design a virtual ideal system is shown. Next, a robust controller is developed so that lateral velocity and yaw angular velocity of vehicle track the lateral velocity and yaw angular velocity of the virtual ideal system. The proposed controller has the good feature that lane keeping performance doesn't change even if vehicle mass, vehicle moment of inertia, etc. are varied. Finally, numerical simulation results are shown to specify effectiveness of the proposed controller.
一般社団法人日本機械学会の論文
2004-11-25