1999年
円弧接続コース上のロバスト自動操舵 -非線形低次元化スライディングモード制御器-
計測自動制御学会論文集
- ,
- ,
- ,
- 巻
- 35
- 号
- 3
- 開始ページ
- 340
- 終了ページ
- 348
- 記述言語
- 日本語
- 掲載種別
- 研究論文(学術雑誌)
- DOI
- 10.9746/sicetr1965.35.340
- 出版者・発行元
- The Society of Instrument and Control Engineers
A non-linear, reduced-dimension steering controller is derived through a sliding mode control theory for an automobile with unknown parameters driving on a course consisting of smoothly connected arcs. A specific, headway viewpoint is introduced to define deviations from the course, and the controller is proven stable and robust. Stationaly values are calculated analytically. Simulation results are given to demostrate a good performance of the proposed controller. Clothoid connections of arcs further improve the performance.
- リンク情報
- ID情報
-
- DOI : 10.9746/sicetr1965.35.340
- ISSN : 0453-4654
- CiNii Articles ID : 130003791485