カルマン・フィルタを用いた自動車の自動操舵系の最適設計

抄録

This paper describes an optimal design of automatic steering system of automobiles. In this study, an automatic control equipment which can control an automobile along a guidance cable is used. This equipment is fabricated with fully electric components.
First, the dynamics of the automobile is measured by the frequency response method. Secondly, an optimal design method of an automatic steering control system is proposed. This method is based on the Kalman filter and the optimal control theory. Thirdly, the performance index of the control system is determined as the solution of the inverse problem of the optimal control theory. These second and third parts are special features of this study. Furthermore, it is confirmed both by simulations and by field experiments that the theory mentioned above is effective in the design of automatic steering control system.