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AN ADAPTIVE AUTOMATIC STEERING CONTROL SYSTEM USING GENERALIZED PREDICTIVE CONTROL THEORY
| 题名： | AN ADAPTIVE AUTOMATIC STEERING CONTROL SYSTEM USING GENERALIZED PREDICTIVE CONTROL THEORY |
| 作者： | Shinya NOHTOMI; Shinichiro HORIUCHI; Toshiyuki TAMATSUKURI |
| 关键词： | AUTOMATIC STEERING; CONTROL SYSTEM |
| 摘要： | This paper proposes a new design method of an adaptive lane tracking control system based on Generalized Predictive Control theory. The proposed system makes realize the preview control without the perfect measurement assumption. Based on the selftuning control theory, the control system maintains desirable tracking performance regardless of changes in vehicle dynamics due to variations of operating conditions. A series of computer simulations and frequency domain analyses were carried out to show the validity of the proposed control system. In comparison with a lane tracking system using preview LQI control algorithm, it is shown that this controller achieves good lateral tracking performance and the ride quality due to small variation of lateral acceleration. |
| 总页数： | PROCEEDINGS OF 6TH WORLD CONGRESS ON INTELLIGENT TRANSPORT SYSTEMS (ITS), HELD TORONTO, CANADA, NOVEMBER 8-12, 1999. 1999. pp10 |
| 报告类型： | 科技报告 |
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