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적응 슬라이딩 모드 제어를 이용한 차량 간격 제어기 설계에 관한 연구
백창현(C.H.Paik),장광수(K.S.Chang),원문철(M.C.Won) 한국자동차공학회 1998 한국자동차공학회 춘 추계 학술대회 논문집 Vol.1998 No.5_2
An adaptive sliding mode controller with loads estimation is designed for AICC. The developed discrete time adaptation law differs from that of conventional sliding mode control. And aims at adaptation on a large disturbance or unmodeled dynamics. The closed loop stability is checked in the discrete time domain. And the exponential decay of the adaptation error can be guaranteed by a proper placement of the discrete time closed loop poles. The results of numerical simulation show better adaptation and tracking performance over the conventional adaptation scheme. The new adaptive scheme is shown to be especially effective under rapid changes of commanded speed.<br/>