상태 공간 외란 관측기를 가지는 자율 차량의 강인한 조향 제어

Abstract

Uncertainty and disturbance significantly affect lane keeping and lane changing control performance. A robust steering control method is proposed, using a state space disturbance observer. Unlike conventional disturbance compensation methods, the proposed state space disturbance observer requires no disturbance model or plant model inversion. Moreover, the disturbance observer is effective in compensating for transient disturbance inputs and thus more useful in improving lane keeping or changing control performance. Application results assure that the proposed robust steering control scheme is a very promising technique in achieving robust steering control performance.