Investigation about automated turning by steering control using backstepping method

Abstract

Recently, an automated driving of four-wheeled vehicle such as an automobile have been expanding in terms of various viewpoints such as a safety and an economy driving. Therefore, this paper investigated about the application of the control system for automated driving in order to run on the target turning trajectory. A feedback control is required to compensate a disturbance effect to a vehicle motion for automated turning driving to coinside with the target trajectory. However, comparing the control systems are little investigated because the designing a control system for the motion control of four-wheeled vehicle is complicated. From view point of evaluating a suitable control for automated turning drive, two control system were investigated in simulation study and experimentally. At first, this paper investigated a control system by using a backstepping method after converting the non-holonomic system to the chained system. Also, as a comparison target, this paper designed a control system using a kanayama’s method, which is well known control algorithm to the underactuated mechanism, adding a compensation control. In addition, in order to evaluate the robustness of the control system when the trajectory changes, this paper used an algorithm proposed by authors that make easy setting of the target turning trajectory consisting of clothoid curve. In these way, the comparison between the feedback control system using the backstepping method and the integrated control system using the kanayama’s algorithm was conducted, then, the characteristics of each system was shown by means of simuation study and experimental results.