Proceedings of the Japan Joint Automatic Control Conference
THE 59TH JAPAN JOINT AUTOMATIC CONTROL CONFERENCE
Session ID : FrA7-4
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Adaptive Longitudinal Velocity and Steering Control of Vehicles
*D. YamamotoK. MatsushitaH. OtaM. Oya
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CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract

In this paper, we propose an adaptive controller considering of longitudinal dynamics not only lateral dynamics of the vehicle. When considering the both dynamics, the drive matrix of error equation includes input signal. So, it is difficult to develop an adaptive controller. To address the problem, we develop a new error equation to which adaptive control scheme can be applied. Based on the new expression, we propose a new adaptive tracking controller.

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© 2016 The Japan Society of Mechanical Engineers
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