The design of an efficient vehicle control method for an autonomous vehicle using the power wheeled steering (PWS) method by two driving wheels is described. First, the vehicle dynamics using the PWS method is analyzed. Next, an efficient controller for the PWS method is proposed. This controller includes a feedforward compensator which has the inverse dynamics of the vehicle and controls both sides of the wheel angular velocities. Additionally, in order to confirm the effectiveness of the proposed control method, numerical simulation and experimental results are shown.
|出版ステータス||Published - 1991 12月 1|
|イベント||Proceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91 - Kobe, Jpn|
継続期間: 1991 10月 28 → 1991 11月 1
|Other||Proceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91|
|Period||91/10/28 → 91/11/1|
ASJC Scopus subject areas