Design of Robust Adaptive Controllers for Longitudinal Motion of Vehicles

직진 주행 차량의 강인 적응제어기 설계

  • 김동헌 (한양대학교 전기공학과) ;
  • 김응석 (한라대학교 전기공학부) ;
  • 김홍필 (경일대학교 전기공학과) ;
  • 양해원 (한양대학교 전자컴퓨터공학부)
  • Published : 2000.10.01

Abstract

A robust adaptive technique for the longitudinal control of a platoon of automated vehicles is presented. A nonlinear model is used to represent the vehicle dynamics of each vehicle within the platoon. The external disturbance such as wind gust and a disturbance term due to engine transmission variations and so on are considered. The state observer is used to avoid direct measurement of the relative velocity or acceleration between the controlled and leading vehicles or the controlled vehicle's acceleration. It is shown that platoon stability can be recovered in operation even if a speed dependent spacing policy is adopted, which incorporates a constant time headway in addition to the constant distance. The simulation results demonstrate excellent tracking even in the presence of disturbances.

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