이산 적분 슬라이딩 모드 및 모델 예측 제어기를 이용한 차선 유지 및 차선 변경 시스템 성능 향상

Abstract

This paper presents a discrete-time integral sliding model predictive control (DISMPC) scheme which combines model predictive control (MPC) and discrete-time integral sliding mode control (DISMC). It can compensate for matching disturbance and model uncertainty of system and improve tracking performance of lane keeping system (LKS) and lane change control (LXC) using dynamic lateral motion model. Especially, a discrete-time integral sliding mode control method is provided to make the ideal system compensating matching disturbance. Proposed method is validated via numerical simulation results with experimental data.