TY  - JOUR
PY  - 2024//
TI  - A feedback gain adaptive path tracking algorithm of autonomous mobility based on disturbance reconstruction using sliding mode observer
JO  - Transactions of the Korean Society of Automotive Engineers
A1  - Oh, Kwangseok
A1  - Lee, Gwangrok
SP  - 319
EP  - 329
VL  - 32
IS  - 4
N2  - 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>
LA  - en
SN  - 1225-6382
UR  - http://dx.doi.org/10.7467/KSAE.2024.32.4.319
ID  - ref1
ER  -