Feedback control for steering support system based on flatness and particle swarm optimization
In this study we give a feedback control method for steering support system. In this method we consider the stability of the path tracking control system under the limitation of steering angle, so that drivers can drive safer and more comfortable. In order to do this, we have derived linearized syst...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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The Japan Society of Mechanical Engineers
2016-05-01
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| Series: | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/jamdsm/10/2/10_2016jamdsm0023/_pdf/-char/en |
| _version_ | 1818107815688929280 |
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| author | Michihiro KAWANISHI Yuta TSUGE Shi-Jia PEI Tatsuo NARIKIYO |
| author_facet | Michihiro KAWANISHI Yuta TSUGE Shi-Jia PEI Tatsuo NARIKIYO |
| author_sort | Michihiro KAWANISHI |
| collection | DOAJ |
| description | In this study we give a feedback control method for steering support system. In this method we consider the stability of the path tracking control system under the limitation of steering angle, so that drivers can drive safer and more comfortable. In order to do this, we have derived linearized system from the nonholonomic kinematic system by the differential flatness consideration and linear control law which stabilizes the path tracking control system. Furthermore, feedback gains are tuned to satisfy the closed loop stability and the limitation of the steering angle by using Particle Swarm Optimization. Usefulness of the proposed control method has been demonstrated by experiments using a 1/10 scale robot car. |
| first_indexed | 2024-12-11T02:05:28Z |
| format | Article |
| id | doaj.art-90e84cba27e5465ba0ef8d4c0e6162ba |
| institution | Directory Open Access Journal |
| issn | 1881-3054 |
| language | English |
| last_indexed | 2024-12-11T02:05:28Z |
| publishDate | 2016-05-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| spelling | doaj.art-90e84cba27e5465ba0ef8d4c0e6162ba2022-12-22T01:24:24ZengThe Japan Society of Mechanical EngineersJournal of Advanced Mechanical Design, Systems, and Manufacturing1881-30542016-05-01102JAMDSM0023JAMDSM002310.1299/jamdsm.2016jamdsm0023jamdsmFeedback control for steering support system based on flatness and particle swarm optimizationMichihiro KAWANISHI0Yuta TSUGE1Shi-Jia PEI2Tatsuo NARIKIYO3Toyota Technological InstituteToyota Technological InstituteToyota Technological InstituteToyota Technological InstituteIn this study we give a feedback control method for steering support system. In this method we consider the stability of the path tracking control system under the limitation of steering angle, so that drivers can drive safer and more comfortable. In order to do this, we have derived linearized system from the nonholonomic kinematic system by the differential flatness consideration and linear control law which stabilizes the path tracking control system. Furthermore, feedback gains are tuned to satisfy the closed loop stability and the limitation of the steering angle by using Particle Swarm Optimization. Usefulness of the proposed control method has been demonstrated by experiments using a 1/10 scale robot car.https://www.jstage.jst.go.jp/article/jamdsm/10/2/10_2016jamdsm0023/_pdf/-char/endifferential flatnessparticle swarm optimizationsteering support system |
| spellingShingle | Michihiro KAWANISHI Yuta TSUGE Shi-Jia PEI Tatsuo NARIKIYO Feedback control for steering support system based on flatness and particle swarm optimization Journal of Advanced Mechanical Design, Systems, and Manufacturing differential flatness particle swarm optimization steering support system |
| title | Feedback control for steering support system based on flatness and particle swarm optimization |
| title_full | Feedback control for steering support system based on flatness and particle swarm optimization |
| title_fullStr | Feedback control for steering support system based on flatness and particle swarm optimization |
| title_full_unstemmed | Feedback control for steering support system based on flatness and particle swarm optimization |
| title_short | Feedback control for steering support system based on flatness and particle swarm optimization |
| title_sort | feedback control for steering support system based on flatness and particle swarm optimization |
| topic | differential flatness particle swarm optimization steering support system |
| url | https://www.jstage.jst.go.jp/article/jamdsm/10/2/10_2016jamdsm0023/_pdf/-char/en |
| work_keys_str_mv | AT michihirokawanishi feedbackcontrolforsteeringsupportsystembasedonflatnessandparticleswarmoptimization AT yutatsuge feedbackcontrolforsteeringsupportsystembasedonflatnessandparticleswarmoptimization AT shijiapei feedbackcontrolforsteeringsupportsystembasedonflatnessandparticleswarmoptimization AT tatsuonarikiyo feedbackcontrolforsteeringsupportsystembasedonflatnessandparticleswarmoptimization |