回転座標変換を用いた車両の円経路追従制御における逆振れ応答の発生条件

抄録

This paper discusses the undershoot response of a circular path-following control for a vehicle. We adopted a method in which the rotational coordinate transformation and the time-state control form are applied to a kinematic model of the vehicle. The vehicle follows a circular path by designing an integral type servo system using the method. However, we found that an undershoot response, in which the initial output response moves in the opposite direction to the reference path, occurs under specific initial conditions. The occurrence of the initial undershoot response depends on the zero of the equivalent transfer function, which includes the effect of the zero-input response. In this study, we derive the conditions for the occurrence of the initial undershoot response based on the equivalent transfer function and show numerical simulation examples of the response.