Title :
H∞ steering control system for the unmanned vehicle
Author :
Kim, Chang Sup ; Park, Kie Seon ; Jeong, Seung Gweon ; Lee, Won Gu ; Lee, Hee Chang ; Wan Kim, Joong ; Bae, Jong Il ; Lee, Man Hyung
Author_Institution :
Graduate Sch. of Mech. Eng., Pusan Nat. Univ., South Korea
Abstract :
By using the information obtained from the output of MR (magnetoresistive) sensors for an unmanned vehicle driving system, we develop an algorithm that decides the distance and directions between the guideline which is made by a magnet and a vehicle. To improve the robust tracking properties of the closed loop system, we introduce an H∞ controller and its application for the unmanned vehicle driving system
Keywords :
H∞ control; automated highways; closed loop systems; control system synthesis; magnetoresistive devices; position control; remotely operated vehicles; robust control; H∞ controller design; H∞ steering control system; closed loop system; magnetoresistive sensors; robust tracking properties; unmanned vehicle; unmanned vehicle driving system; Automatic control; Control systems; Control theory; Guidelines; Machine vision; Remotely operated vehicles; Roads; Robust control; Sliding mode control; Vehicle driving;
Conference_Titel :
Industrial Electronics, 2001. Proceedings. ISIE 2001. IEEE International Symposium on
Conference_Location :
Pusan
Print_ISBN :
0-7803-7090-2
DOI :
10.1109/ISIE.2001.931917
