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

This study concerned the circular path-following control of a vehicle. For a circular path, two methods can be applied to the vehicle system, namely, rotational coordinate transformation and expansionary coordinate transformation. Via numerical simulations of the application of these two methods, we...

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Autores principales:	Ryo NAKATA, Masaya TANEMURA, Yuichi CHIDA, Tomoya MITSUHASHI
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2021
Materias:	vehicle undershoot path-following control time-state control nonholonomic systems rotational coordinate transformation expansionary coordinate transformation Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/f7917d3dd65d4e3bb5a937f055eae4e4
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spelling	oai:doaj.org-article:f7917d3dd65d4e3bb5a937f055eae4e42021-11-29T06:05:55ZUndershoot response analysis of circular path-following control of an autonomous vehicle2187-974510.1299/mej.21-00002https://doaj.org/article/f7917d3dd65d4e3bb5a937f055eae4e42021-03-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/8/2/8_21-00002/_pdf/-char/enhttps://doaj.org/toc/2187-9745This study concerned the circular path-following control of a vehicle. For a circular path, two methods can be applied to the vehicle system, namely, rotational coordinate transformation and expansionary coordinate transformation. Via numerical simulations of the application of these two methods, we discovered that the former provides undershoot in its initial response; however, this does not appear if the latter method is also applied to the former. The undershoot phenomenon is undesirable for tracking control. In order to investigate the reason for the occurrence of the undershoot phenomenon, a condition for the undershoot was derived from an analysis of the first step response in the control system model. The obtained condition depended on the relationship between the initial value and the target value of the vehicle. As a result, we found that the former method satisfied the undershoot condition. Second, we analyzed the condition for the method which included expansionary coordinate transformation, and we found that this approach includes additional feedforward control input in comparison with the former method. Subsequently, we demonstrated that the feedforward input allowed the latter system to avoid undershoot.Ryo NAKATAMasaya TANEMURAYuichi CHIDATomoya MITSUHASHIThe Japan Society of Mechanical Engineersarticlevehicleundershootpath-following controltime-state controlnonholonomic systemsrotational coordinate transformationexpansionary coordinate transformationMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 8, Iss 2, Pp 21-00002-21-00002 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	vehicle undershoot path-following control time-state control nonholonomic systems rotational coordinate transformation expansionary coordinate transformation Mechanical engineering and machinery TJ1-1570
spellingShingle	vehicle undershoot path-following control time-state control nonholonomic systems rotational coordinate transformation expansionary coordinate transformation Mechanical engineering and machinery TJ1-1570 Ryo NAKATA Masaya TANEMURA Yuichi CHIDA Tomoya MITSUHASHI Undershoot response analysis of circular path-following control of an autonomous vehicle
description	This study concerned the circular path-following control of a vehicle. For a circular path, two methods can be applied to the vehicle system, namely, rotational coordinate transformation and expansionary coordinate transformation. Via numerical simulations of the application of these two methods, we discovered that the former provides undershoot in its initial response; however, this does not appear if the latter method is also applied to the former. The undershoot phenomenon is undesirable for tracking control. In order to investigate the reason for the occurrence of the undershoot phenomenon, a condition for the undershoot was derived from an analysis of the first step response in the control system model. The obtained condition depended on the relationship between the initial value and the target value of the vehicle. As a result, we found that the former method satisfied the undershoot condition. Second, we analyzed the condition for the method which included expansionary coordinate transformation, and we found that this approach includes additional feedforward control input in comparison with the former method. Subsequently, we demonstrated that the feedforward input allowed the latter system to avoid undershoot.
format	article
author	Ryo NAKATA Masaya TANEMURA Yuichi CHIDA Tomoya MITSUHASHI
author_facet	Ryo NAKATA Masaya TANEMURA Yuichi CHIDA Tomoya MITSUHASHI
author_sort	Ryo NAKATA
title	Undershoot response analysis of circular path-following control of an autonomous vehicle
title_short	Undershoot response analysis of circular path-following control of an autonomous vehicle
title_full	Undershoot response analysis of circular path-following control of an autonomous vehicle
title_fullStr	Undershoot response analysis of circular path-following control of an autonomous vehicle
title_full_unstemmed	Undershoot response analysis of circular path-following control of an autonomous vehicle
title_sort	undershoot response analysis of circular path-following control of an autonomous vehicle
publisher	The Japan Society of Mechanical Engineers
publishDate	2021
url	https://doaj.org/article/f7917d3dd65d4e3bb5a937f055eae4e4
work_keys_str_mv	AT ryonakata undershootresponseanalysisofcircularpathfollowingcontrolofanautonomousvehicle AT masayatanemura undershootresponseanalysisofcircularpathfollowingcontrolofanautonomousvehicle AT yuichichida undershootresponseanalysisofcircularpathfollowingcontrolofanautonomousvehicle AT tomoyamitsuhashi undershootresponseanalysisofcircularpathfollowingcontrolofanautonomousvehicle
_version_	1718407623627243520

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

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