한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제19권10호
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  • Pages.178-186
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  • 2002
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

무인 차량의 강인한 조향제어 시스템 개발에 관한 연구

Development of Steering Control System for UCT (Unmanned Container Transporter) Using Robust Control

  • 정승권 (부산대학교 지능기계공학과) ;
  • 김인수 (국방과학연구소) ;
  • 김창섭 (부산대학교 지능기계공학과) ;
  • 최주용 (부산대학교 지능기계공학과) ;
  • 윤강섭 (대구대학교 자동차.산업.기계공학부) ;
  • 이만형 (부산대학교 기계공학부)
  • 발행 : 2002.10.01
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초록

In this study, the steering control system for UCT (unmanned container transporter) was developed using MR (Magnetoresistive) sensors. The MR and magnet sensors are used for the lane detecting system. The robust control theory is used for the design of the steering controller to reduce the uncertainties of the road. The performance of the robust steering controller is compared in simulations and tests using the existing PD controller of the UCT.

키워드

참고문헌

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