Path following制御のデータ駆動ゲイン自動調整

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2024/08/01

タイトル(英語): Data-Driven Auto Tuning for Controller Gain of Path Following Control

著者名: 鈴木　元哉（J-DYN CONTROL LAB）

著者名(英語): Motoya Suzuki (J-DYN CONTROL LAB)

キーワード: データ駆動制御，VIMT，ビークル　　Data-driven control，VIMT，Vehicle

要約(英語): To realize mobile robot, the path following control method was proposed. Although this method is simple, the desired lane keeping can be realized. In this method, a controller gain must be tuned so that the tracking error is small. However, the feedback gain must be tuned by specific experiments nor iterations. In control theory field, a new auto-tuning method which is called as Virtual internal model tuning (VIMT) was proposed. VIMT can tune the controller by using one-shot experiment data. If this method can be applied to the vehicle, the feedback gain can be tuned. However, VIMT cannot be applied directly because the path following control is nonlinear control method. This study expands VIMT so as to tune the path following control. The proposed method can use VIMT by linearizing the path following control method. The validity of the proposed method is verified via numerical simulation.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.144 No.8 （2024） 特集Ⅰ：Smart Cityを支える高度な無線通信，センシング及び情報処理　特集Ⅱ：人と人とを繋ぐ情報・システム技術

本誌掲載ページ: 808-815 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/144/8/144_808/_article/-char/ja/