Adaptive-learning control of vehicle dynamics using nonlinear backstepping technique

비선형 백스테핑 방식에 의한 차량 동력학의 적응-학습제어

In this paper, a dynamic control scheme is proposed which not only compensates for the lateral dynamics and longitudinal dynamics but also deal with the yaw motion dynamics. Using the dynamic control technique, adaptive and learning algorithm together, the proposed controller is not only robust to disturbance and parameter uncertainties but also can learn the inverse dynamics model in steady state. Based on the proposed dynamic control scheme, a dynamic vehicle simulator is contructed to design and test various control techniques for 4-wheel steering vehicles.