Undershoot response analysis of circular path-following control of an autonomous vehicle

• DOI: 10.1299/mej.21-00002
• Publication Date: 2021-03-28T22:07:13Z
• Authors: Ryo NAKATA; Masaya TANEMURA; Yuichi CHIDA; Tomoya MITSUHASHI
• Keywords: Feed forward

This study concerned the circular path-following control of a vehicle. For path, two methods can be applied to vehicle system, namely, rotational coordinate transformation and expansionary transformation. Via numerical simulations application these methods, we discovered that former provides undershoot in its initial response; however, this does not appear if latter method is also former. The phenomenon undesirable for tracking control. In order investigate reason occurrence phenomenon, condition was derived from an analysis first step response system model. obtained depended on relationship between value target As result, found satisfied condition. Second, analyzed which included transformation, approach includes additional feedforward input comparison with method. Subsequently, demonstrated allowed avoid undershoot.