トラックの最適制御理論に基づくゲインスケジューリングPath Following制御

Key Points

• The aim is to develop and evaluate a gain scheduling control method based on optimal control theory for truck path following.
• Developed a path following control strategy using gain scheduling and optimal control theory.
• Utilized vehicle motion models to account for varying speed characteristics.
• Evaluated the control performance through computer simulation.
• Achieved consistently high control performance across a wide range of speeds during simulations.
• Demonstrated that speed-dependent control enhances the system's effectiveness compared to linear time-invariant methods.