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ロバスト性指標から捉えたドライバモデルの研究
https://it-hiroshima.repo.nii.ac.jp/records/2000064
https://it-hiroshima.repo.nii.ac.jp/records/2000064e36420dc-4f91-4b36-8890-22f3903c54dc
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
research59_017-023.pdf (2.4 MB)
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| Item type | 紀要論文 / Departmental Bulletin Paper(1) | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| 公開日 | 2025-03-21 | |||||||||
| タイトル | ||||||||||
| タイトル | ロバスト性指標から捉えたドライバモデルの研究 | |||||||||
| 言語 | ja | |||||||||
| タイトル | ||||||||||
| タイトル | Research of driver model by the robust index | |||||||||
| 言語 | en | |||||||||
| 言語 | ||||||||||
| 言語 | jpn | |||||||||
| キーワード | ||||||||||
| 主題Scheme | Other | |||||||||
| 主題URI | Driver model, Sensitivity function, Complementary sensitivity function, Remnant, Input disturbance | |||||||||
| 資源タイプ | ||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||
| 資源タイプ | departmental bulletin paper | |||||||||
| 著者 |
太田,利夫,伊藤,大記,伊藤,良起,髙畑,健二
× 太田,利夫,伊藤,大記,伊藤,良起,髙畑,健二
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| 抄録 | ||||||||||
| 内容記述タイプ | Abstract | |||||||||
| 内容記述 | Being many proposals for driver models in the previous research interpreted in various theory（torque control, steering angular velocity control, steering angle control, etc.）for research purposes. Generally, steering angle control has been widely used because the control input to the vehicle model（Plant model）is the steering angle. Additionally, nonlinear elements that cannot be formulated and dead time as a driver model are treated as remnants that cannot be explained by linear control theory. Furthermore, regarding the dead time of the driver model, in a driver model configured on the biomimetics of bat flight maneuver, the dead time is actively inserted into the control law, and is interpreted as a control element for determining the timing of course following. The motivation for this research was the idea that the concept of remnant can be interpreted as a disturbance on broaddefinition in linear robust control（uncertainty that cannot be modeled by linear theory, for example, environmental fluctuations, modeling estimation errors, control input by nonlinearity of the actuator, observation noise, and fluctuations of the plant etc.）. In this research, we define remnant as a steering input disturbance†（stimulus）and would report the results of verifying whether the concept of remnant is equivalent to broadly defined disturbance in robust control theory returning to a mixed sensitivity problem using sensitivity and complementary sensitivity of the closed loop configured by the Driver In the Loop, which is a design index of robust control performance, and would report the practicality of proposal diver model. †:In this research, the disturbance is not a general disturbance, as it functions as an override to the reference vehicle trajectory. |
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| 言語 | en | |||||||||
| bibliographic_information |
巻 59, p. 17-21, 発行日 2025-03-14 |
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| 出版者 | ||||||||||
| 出版者 | 広島工業大学 | |||||||||
| item_10002_source_id_9 | ||||||||||
| 収録物識別子タイプ | ISSN | |||||||||
| 収録物識別子 | 13469975 | |||||||||
| item_10002_source_id_11 | ||||||||||
| 収録物識別子タイプ | NCID | |||||||||
| 収録物識別子 | AA11599110 | |||||||||
| フォーマット | ||||||||||
| 内容記述タイプ | Other | |||||||||
| 内容記述 | application/pdf | |||||||||
| 出版タイプ | ||||||||||
| 出版タイプ | VoR | |||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||
