車輪に横滑りを有する車両の厳密な線形化によるロバスト軌道追従制御

Abstract

In this paper, a new robust tracking controller for vehicles with active front steering and with side skidding is proposed. Conventional controllers, designed for vehicles without side skidding, assure exponential convergence to the desired trajectory. When applied to vehicles with side skidding, however, these controllers cause a large deviation from the trajectory. We have revised a conventional controller by representing it into time-state control form and by applying an exact linearization technique. Our controller cancels the dynamics of side skidding and successfully achieves exponential convergence to the desired trajectory. The controller assures robustness with respect to uncertainties on cornering forces and external disturbances by a natural extension using sliding mode. The advantages of the proposed controller are shown through simulations.