Title :
A lateral controller design for an unmanned vehicle
Author :
Young Chul Cha ; Kil Soo Lee ; Dong Seok Lee ; Hyung Gyu Park ; Wei Zhang ; Yun Ja Lee ; Sinpyo Hong ; Man Hyung Lee
Author_Institution :
Grad. Sch. of Mech. Eng., Pusan Nat. Univ., Busan, South Korea
Abstract :
This paper proposes a lateral control system for an unmanned vehicle to improve the responsiveness of the system with a PD control. Heading error can be stabilized and the transient response characteristics can be improved with the controller. In this paper, a mathematical modeling of the vehicle dynamics using two degrees of freedom is used for the controller design. Waypoint tracking method of autonomous navigation was done with the Point to Point algorithm with position and heading measurements from GPS receivers. Performance of the designed controller was verified through experiment with a real vehicle.
Keywords :
PD control; control system synthesis; position measurement; remotely operated vehicles; transient response; vehicle dynamics; GPS receivers; PD control; autonomous navigation; degrees of freedom; heading measurements; lateral controller design; mathematical modeling; point to point algorithm; position measurements; transient response characteristics; unmanned vehicle; vehicle dynamics; waypoint tracking method; Educational institutions; Electronic mail; Facsimile; Global Positioning System; Mechanical engineering; PD control; Vehicles;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on
Conference_Location :
Budapest
Print_ISBN :
978-1-4577-0838-1
DOI :
10.1109/AIM.2011.6027028
