Robust Lateral Controller for an Unmanned Vehicle via a System Identification Method

摘要

In this paper, we developed a lateral dynamic model of an unmanned vehicle by using a system identification method and designed a lateral controller. The system input is the steering wheel angle of the vehicle with constant longitudinal speed and the output is the yaw of the vehicle. With the system identification method using subspace method, to achieve a control objective, we designed a robust lateral controller using the model equation. We, also compared the robust control performance designed by using the system identification method with that of the physically modeled system.