메뉴 건너뛰기
.. 내서재 .. 알림
소속 기관/학교 인증
인증하면 논문, 학술자료 등을  무료로 열람할 수 있어요.
한국대학교, 누리자동차, 시립도서관 등 나의 기관을 확인해보세요
(국내 대학 90% 이상 구독 중)
로그인 회원가입 고객센터 ENG
주제분류

추천
검색
질문

논문 기본 정보

자료유형
학술대회자료
저자정보
Sehwan Kim (Hankyong National University) Kwangseok Oh (Hankyong National University)
저널정보
제어로봇시스템학회 제어로봇시스템학회 국제학술대회 논문집 ICCAS 2023
발행연도
2023.10
수록면
1,455 - 1,459 (5page)

이용수

표지
📌
연구주제
📖
연구배경
🔬
연구방법
🏆
연구결과
AI에게 요청하기
추천
검색
질문

초록· 키워드

오류제보하기
This study proposes an adaptive path tracking control algorithm for autonomous vehicles with weighted cost function and uncertainty estimation. To design of reasonable steering control algorithm for path tracking, consideration of vehicle velocity and proper ratio of path errors in cost function is needed. The weighted cost function has been designed using weighting factor and uncertainties of the error dynamics have been estimated using Recursive Least Squares(RLS) with forgetting. Based on the weighting factor and estimated uncertainties, steering control input for path tracking has been derived with discrete injection term based on the Lyapunov direct method and the stability of the controller was analyzed. The control algorithm was constructed in Matlab/Simulink environment and performance evaluation was conducted by co-simulation of the CarMaker and Matlab/Simulink under a curved path tracking scenario. The evaluation results showed that the adaptive path tracking controller proposed in this study can make autonomous vehicle track the desired path reasonably under various velocity conditions.

목차

Abstract
1. INTRODUCTION
2. ADAPTIVE PATH TRACKING CONTROL WITH WEIGHTED COST FUNCTION
3. SIMULATION-BASED PERFORMANCE EVALUATION
4. CONCLUSION
REFERENCES

참고문헌 (0)

참고문헌 신청

함께 읽어보면 좋을 논문

논문 유사도에 따라 DBpia 가 추천하는 논문입니다. 함께 보면 좋을 연관 논문을 확인해보세요!

이 논문의 저자 정보

최근 본 자료

전체보기

댓글(0)

0

UCI(KEPA) : I410-151-24-02-088265912