時変フィードフォワード制御とデータ駆動制御によるビークルの自動走行

抄録

For realizing desired control performances, data-driven tunings such as virtual reference feedback tuning (VRFT) and fictious reference iterative tuning (FRIT) were proposed. Furthermore, estimated response iterative tuning (ERIT) can realize desired closed-loop response of two-degree of freedom controls. However, conventional data-driven control cannot realize desired control performances of autonomous vehicles because vehicle dynamics is time variant systems. To solve this problem, we propose time-varying feedforward controls based on ERIT. The validity of proposed method is verified through experiment verification.