동력기계공학회지 (Journal of Power System Engineering)

  • 제17권3호
  • /
  • Pages.72-81
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  • 2013
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  • 2713-8429(pISSN)
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  • 2713-8437(eISSN)
한국동력기계공학회 (The Korean Society for Power System Engineering)
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3자유도 차량모델을 이용한 차선추종 µ 제어기 설계

The Controller Design for Lane Following with 3-Degree of Freedom Vehicle Dynamics

  • 지상원 (부경대학교 기계시스템공학과) ;
  • 임태우 (한국해양대학교 기관공학부) ;
  • 유삼상 (한국해양대학교 기계.에너지시스템공학부) ;
  • 김환성 (한국해양대학교 물류시스템공학과)
  • Ji, Sang-Won (Department of Mechanical System Engineering, Pukyong National University) ;
  • Lim, Tae-Woo (Division of Marine Engineering, Korea Maritime University) ;
  • You, Sam-Sang (Division of Mechanical and Energy Systems Engineering, Korea Maritime University) ;
  • Kim, Hwan-Seong (Department of Logistics System Engineering, Korea Maritime University)
  • 투고 : 2012.12.10
  • 심사 : 2013.05.13
  • 발행 : 2013.06.30
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초록

Many articles have been published about a 2-degree of freedom model that includes the lateral and yaw motions for controller synthesis in intelligent transport system applications. In this paper, a 3-degree of freedom linear model that includes the roll motion is developed to design a robust steering controller for lane following maneuvers using ${\mu}$-synthesis. This linear perturbed system includes a set of parametric uncertainties in cornering stiffness and unmodelled dynamics in steering actuators. The state-space model with parametric uncertainties is represented in linear fractional transformation form. Design purpose can be obtained by properly choosing the frequency dependent weighting functions. The objective of this study is to keep the tracking error and steering input energy small in the presence of variations of the cornering stiffness coefficients. Furthermore, good ride quality has to be achieved against these uncertainties. Frequency-domain analyses and time-domain numerical simulations are carried out in order to evaluate these performance specifications of a given vehicle system. Finally, the simulation results indicate that the proposed robust controller achieves good performance over a wide range of uncertainty for the given maneuvers.

키워드

참고문헌

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