Otonom Taşıtlar için Hıza Bağlı Kazanç Uyarlamalı LQI Tabanlı Yol Takip Kontrol Sistemi Tasarımı

Otonom taşıt yol takibi, otonom taşıt kontrolündeki önemli problemlerden birisidir. Otonom taşıt istenilen hızda yol alırken istenilen yol profilini yoldan yana sapma miktarını en aza indirecek şekilde takip etmelidir. Bu çalışmada bu problemin çözümü için LQI kontrol yöntemi önerilmiştir. LQI tabanlı kontrol sistemi, taşıt hızının taşıt dinamik davranışı üzerindeki etkisi dikkate alınarak hıza bağlı olarak kazanç uyarmalı şekilde tasarlanmıştır. Önerilen yöntem yüksek serbestlik dereceli kablosuz direksiyon eyleyici modeli içeren doğrusal olmayan taşıt dinamiği modeliyle simülasyon ortamında test edilmiştir. Önerilen kontrol sisteminin performansı, PID ve LQR tabanlı kontrol sistemleriyle iki farklı simülasyon senaryosunda karşılaştırılmıştır. Farklı kontrol yöntemlerin sayısal olarak karşılaştırılmasında istatistiksel hata değerleri kullanılmıştır. Simülasyon sonuçları ve hata değerleri göstermektedir ki hıza bağlı kazanç uyarlamalı LQI kontrol sistemi kullanan otonom taşıt, sabit ve değişken taşıt hızında istenilen yolu daha az hatayla takip etmektedir.

Anahtar Kelimeler:

Otonom taşıtlar, Kontrol sistemleri tasarımı, LQI, LQR, Simülasyon

Speed Dependent Gain Scheduled LQI based Path Following Control System Design for Automated Vehicles

Automated path following is one of the major problem in automated vehicle control. Automated vehicle should follow the desired path to minimize the lateral deviation from the path while traveling at the desired speed. In this paper, LQI control method is proposed to solve this problem. LQI based control system is designed based on speed dependent gain scheduling taking into account the effect of vehicle speed on vehicle dynamic behaviour. The proposed method is tested in a simulation environment with a high degree-of-freedom nonlinear vehicle model including steer-by-wire steering actuator model. The performance of the proposed is compared with PID and LQR based control systems in two different simulation scenarios. Statistical error values are used for numerical comparison of different control methods. Simulation results and error values show that speed dependent gain scheduled LQI control system equipped automated vehicle follows the desired path with less error at constant and variable vehicle speed.

Keywords:

Automated vehicles, Control system design, LQI, LQR, Simulation,

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