Feedback control for steering support system based on flatness and particle swarm optimization

摘要

In this study we give a feedback control method for steering support system. In this method we consider the stability of the path tracking control system under the limitation of steering angle, so that drivers can drive safer and more comfortable. In order to do this, we have derived linearized system from the nonholonomic kinematic system by the differential flatness consideration and linear control law which stabilizes the path tracking control system. Furthermore, feedback gains are tuned to satisfy the closed loop stability and the limitation of the steering angle by using Particle Swarm Optimization. Usefulness of the proposed control method has been demonstrated by experiments using a 1/10 scale robot car.