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

Abstract

In this study, path following control systems are designed to minimize the lateral deviation from the desired path. Speed changes in the maneuvers are taken into consideration and LQI based speed dependent gain scheduling control system is proposed. This method is compared with PID and LQR control methods in different simulation studies.