Controller design for lateral control of unmanned vehicle

Author

Cha, Young Chul ; Lee, Jang Hyun ; Lee, Kil Soo ; Park, Hyung Gyu ; Lee, Man Hyung

Author_Institution

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

fYear

2011

fDate

26-29 Oct. 2011

Firstpage

950

Lastpage

953

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; automobiles; remotely operated vehicles; vehicle dynamics; GPS receivers; PD control; autonomous navigation; controller design; heading error; lateral control system; point to point algorithm; transient response characteristics; two degrees of freedom; unmanned vehicle; vehicle dynamics; waypoint tracking method; Global Positioning System; Measurement uncertainty; Vehicles; Lateral control; P to P algorithm; PD Controller; Unmanned Vehicle;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems (ICCAS), 2011 11th International Conference on

Conference_Location

Gyeonggi-do

ISSN

2093-7121

Print_ISBN

978-1-4577-0835-0

Type

conf

Filename

6106359