A lateral controller design for an unmanned vehicle

Author

Young Chul Cha ; Kil Soo Lee ; Dong Seok Lee ; Hyung Gyu Park ; Wei Zhang ; Yun Ja Lee ; Sinpyo Hong ; Man Hyung Lee

Author_Institution

Grad. Sch. of Mech. Eng., Pusan Nat. Univ., Busan, South Korea

fYear

2011

fDate

3-7 July 2011

Firstpage

283

Lastpage

286

Abstract

This paper proposes a lateral control system for an unmanned vehicle to improve the responsiveness of the system with a PD control. Heading error can be stabilized and the transient response characteristics can be improved with the controller. In this paper, a mathematical modeling of the vehicle dynamics using two degrees of freedom is used for the controller design. Waypoint tracking method of autonomous navigation was done with the Point to Point algorithm with position and heading measurements from GPS receivers. Performance of the designed controller was verified through experiment with a real vehicle.

Keywords

PD control; control system synthesis; position measurement; remotely operated vehicles; transient response; vehicle dynamics; GPS receivers; PD control; autonomous navigation; degrees of freedom; heading measurements; lateral controller design; mathematical modeling; point to point algorithm; position measurements; transient response characteristics; unmanned vehicle; vehicle dynamics; waypoint tracking method; Educational institutions; Electronic mail; Facsimile; Global Positioning System; Mechanical engineering; PD control; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on

Conference_Location

Budapest

ISSN

2159-6247

Print_ISBN

978-1-4577-0838-1

Type

conf

DOI

10.1109/AIM.2011.6027028

Filename

6027028