제어로봇시스템학회:학술대회논문집
- 2002.10a
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- Pages.101.6-101
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- 2002
Lateral Control of Vehicles Using Vision System
- Kim, Eun-Joo (Pusan Nat'1 Univ.) ;
- Kim, Chang-Sub (Pusan Nat'1 Univ.) ;
- Ha, Sung-Gi (Pusan Nat'1 Univ.) ;
- Yoon, Kang-Sub (Daegu Univ.) ;
- Lee, Man-Hyung (Pusan Nat'1 Univ.)
- Published : 2002.10.01
Abstract
The LQG/LTR controller is a robust and stable control which is systematic method with a view of engineering. And the scheme is adopted for the design of the controller to reduce the effects of the disturbances. In this paper, We develop an algorithm that decides the distance and directions between the guide line that is made by a series of magnets and MR sensors of vehicle. LQG/LTR and Controller Design of Lateral Control System for a vehicle is developed with 3 DOF (degree-of-freedom) model. The performance has been compared for the employed two types of controllers via computed simulations. The results show that the controller provides more robustness property for t...
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