@article{ref1,
title="A feedback gain adaptive path tracking algorithm of autonomous mobility based on disturbance reconstruction using sliding mode observer",
journal="Transactions of the Korean Society of Automotive Engineers",
year="2024",
author="Oh, Kwangseok and Lee, Gwangrok",
volume="32",
number="4",
pages="319-329",
abstract="This paper presents a feedback gain adaptive path tracking algorithm on autonomous mobility that is based on disturbance reconstruction with a sliding mode observer(SMO). In the design of the path tracking controller vehicle error dynamics, the desired yaw rate is generally required. The simple kinematics-based error dynamics was used, while the disturbance, including the desired yaw rate, was reconstructed by an SMO under a finite-time stability condition in real-time. The feedback gains in determining the steering control input adaptively are computed by using the desired eigenvalue and vehicle longitudinal velocity. Finally, to obtain a reasonable performance evaluation, waypoint-based curved path scenarios were examined under two velocity conditions in Matlab/Simulink and CarMaker software environment.<p /> <p>Language: en</p>",
language="en",
issn="1225-6382",
doi="10.7467/KSAE.2024.32.4.319",
url="http://dx.doi.org/10.7467/KSAE.2024.32.4.319"
}