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INTERNAL MODEL-BASED ROBUST PATH-FOLLOWING CONTROL FOR AUTONOMOUS VEHICLES
Adorján Kovács,István Vajk 한국자동차공학회 2024 International journal of automotive technology Vol.25 No.2
The paper presents a new internal model control (IMC) based control technique for lateral trajectory tracking of autonomousvehicles. The controller’s proposed structure employs a robust, fault-tolerant nonlinear internal servo control with optimalreference generation concerning vehicle yaw stability and physical limitations. The presented inscription of the referencegeneration creates a convex optimization task that can be used in real-time applications. Improvements in yaw-rate stabilityof vehicle motion control are fi rst shown through simulation results performed in a Simulink environment. The controllerstructure was also implemented in a real-time model and was examined in a Mercedes C-Class vehicle. In this article, thesimulation results and the real-time measurements are presented. The results show that the proposed controller has higheffi ciency in disturbance rejection and lower sensitivity towards parameter changes compared to a model predictive control(MPC) structure.