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http://dx.doi.org/10.5302/J.ICROS.2016.16.0013

Robust Speed Control of an Autonomous Vehicle Using Disturbance Observer  

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)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.22, no.5, 2016 , pp. 339-345 More about this Journal
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.
Keywords
speed control of electrical vehicles; motor parameter identification; disturbance observer; model based PID control; pole placement;
Citations & Related Records
Times Cited By KSCI : 5  (Citation Analysis)
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