Predictive control with sliding mode for autonomous driving vehicle lateral maneuvering
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, S.-H. | - |
dc.contributor.author | Chung, C.C. | - |
dc.date.accessioned | 2021-08-13T01:45:27Z | - |
dc.date.available | 2021-08-13T01:45:27Z | - |
dc.date.created | 2021-08-13 | - |
dc.date.issued | 2017-05-24 | - |
dc.identifier.issn | 0743-1619 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/102765 | - |
dc.description.abstract | An innovative paradigm of path planning and control is proposed for autonomous driving vehicles. The scheme applies predictive control with sliding mode to solve the problem of path planning in the vehicle coordinates and control. The path for lateral motion is given by a sliding hyperplane in terms of lateral error and velocity in the vehicle coordinates. Sliding mode control is applied to attain stable reduced order sliding motion on the hyperplane. Predictive control is developed for reaching the hyperplane. Mathematical proof for stability and existence of sliding mode is provided, together with an application to demonstrate utility of the proposed predictive control with sliding mode. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.title | Predictive control with sliding mode for autonomous driving vehicle lateral maneuvering | - |
dc.type | Conference | - |
dc.contributor.affiliatedAuthor | Chung, C.C. | - |
dc.identifier.scopusid | 2-s2.0-85026999087 | - |
dc.identifier.bibliographicCitation | 2017 American Control Conference, ACC 2017, pp.2998 - 3003 | - |
dc.relation.isPartOf | 2017 American Control Conference, ACC 2017 | - |
dc.relation.isPartOf | 2017 American Control Conference (ACC) | - |
dc.citation.title | 2017 American Control Conference, ACC 2017 | - |
dc.citation.startPage | 2998 | - |
dc.citation.endPage | 3003 | - |
dc.citation.conferencePlace | US | - |
dc.citation.conferencePlace | Seattle, WA, USA | - |
dc.citation.conferenceDate | 2017-05-24 | - |
dc.type.rims | CONF | - |
dc.description.journalClass | 1 | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
222, Wangsimni-ro, Seongdong-gu, Seoul, 04763, Korea+82-2-2220-1365
COPYRIGHT © 2021 HANYANG UNIVERSITY.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.