Title :
H∞ steering control of an unmanned vehicle driving system by the MR sensors
Author :
Kim, Chang-Sup ; Park, Kie-Seon ; Bae, Jong Il ; Lee, Man-Hyung
Abstract :
By using the information obtained from output of MR (magnetoresistive) sensors for an unmanned vehicle driving system, we develop an algorithm that finds the distance and directions between a magnetic guideline and the vehicle. To improve the robust tracking properties of the closed loop system, we introduce H∞ controller and its application for the unmanned vehicle driving system
Keywords :
H∞ control; closed loop systems; magnetic sensors; magnetoresistive devices; mobile robots; road vehicles; robust control; spatial variables measurement; tracking; H∞ steering control; MR sensors; closed loop system; magnetic guideline; magnetoresistive sensors; robust tracking; unmanned vehicle driving system; Automatic control; Control systems; Control theory; Machine vision; Magnetic sensors; Remotely operated vehicles; Roads; Robust control; Sensor systems; Vehicle driving;
Conference_Titel :
Intelligent Transportation Systems, 2001. Proceedings. 2001 IEEE
Conference_Location :
Oakland, CA
Print_ISBN :
0-7803-7194-1
DOI :
10.1109/ITSC.2001.948686
