Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Robust Speed Control of an Autonomous Vehicle Using Disturbance Observer

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  • Ko, Young-Jun (Dept. of Electrical and Information Engineering, Seoul National University of Science and Technology) ;
  • Kim, Young-Jun (Dept. of Electrical and Information Engineering, Seoul National University of Science and Technology) ;
  • Kim, Jung-Su (Dept. of Electrical and Information Engineering, Seoul National University of Science and Technology)
  • 고영준 (서울과학기술대학교 전기정보공학과) ;
  • 김영준 (서울과학기술대학교 전기정보공학과) ;
  • 김정수 (서울과학기술대학교 전기정보공학과)
  • Received : 2016.01.26
  • Accepted : 2016.03.27
  • Published : 2016.05.01
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Abstract

This paper presents a robust speed control of an autonomous vehicle using a disturbance observer. For the purpose, the transfer function of speed dynamics of an autonomous vehicle is identified using step response data. Based on the identified transfer function, model based PID (Proportional-Integral-Derivative) control is designed. In order to design a robust control against load variations on the vehicle, a disturbance observer (DOB) based control is devised. The performance of the designed DOB based control is demonstrated by real experiments.

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References

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