자율주행 트램 차량을 위한 속도 추종 제어기 설계

초록

This paper deals with a controller design for an autonomous tram vehicle that runs on tramway tracks. Based on the vehicle’s longitudinal dynamics, the design problem is formulated as a standard state-space representation. The design mainly focuses on the time delay between input command and system response, which limits the performance of conventional PI controller designs. To address the issue, a robust controller is designed in terms of frequency domain specifications based on the Smith predictor and disturbance observer structure. The plant model is elaborated based on the actual system responses for effective simulation studies and the feasibility of the proposed approach is validated by the model.

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