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Longitudinal Motion Control of Vehicles Using Adaptive Sliding Mode Cascade Observer  

Kim Eung-Seok (한라대 전기 전자 제어공학부)
Kim Cheol-Jin (한라대 전기 전자 제어공학부)
Rhee Hyung-Chan (대전대 전기공학과)
Publication Information
The Transactions of the Korean Institute of Electrical Engineers D / v.52, no.1, 2003 , pp. 1-8 More about this Journal
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
축차 관측기;직진주행제어;적응칙;
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Times Cited By KSCI : 2  (Citation Analysis)
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