The Transactions of the Korean Institute of Electrical Engineers D (대한전기학회논문지:시스템및제어부문D)

The Korean Institute of Electrical Engineers (대한전기학회)
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Longitudinal Motion Control of Vehicles Using Adaptive Sliding Mode Cascade Observer

적응 슬라이딩 모드 축차 관측기를 이용한 직진 주행 차량 제어

  • 김응석 (한라대 전기 전자 제어공학부) ;
  • 김철진 (한라대 전기 전자 제어공학부) ;
  • 이형찬 (대전대 전기공학과)
  • Published : 2003.01.01
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Abstract

In this paper, an observer-based adaptive controller is proposed to control the longitudinal motion of vehicles. The standard gradient method is used to estimate the vehicle parameters, mass, time constant, etc. The inter-vehicle spacing and its derivatives are estimated by using the sliding mode cascade observer introduced in this paper. It is shown that the proposed adaptive controller is uniformly ultimately bounded. It is also shown that the errors of the relative distance, the relative velocity and the relative acceleration asymptotically converge to zero. The simulation results are presented to investigate the effectiveness of the proposed method.

Keywords

References

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