An Internal Model Control (IMC) Algorithm for Automatic Trajectory Tracking

作者：Zhang, Sumin^*; Deng, Weiwen; Wang, Yu; Shang, Bingxu

来源：4th International Conference on Manufacturing Science and Engineering (ICMSE 2013), Dalian, PEOPLES R CHINA, 2013-03-30 To 2013-03-31.

DOI：10.4028/www.scientific.net/AMR.712-715.2296

• Internal model control (IMC)
• trajectory tracking
• proportional integral differential (PID) control
• internal model control-PID

This paper presented a trajectory tracking algorithm applied for an intelligent driving system. Both the path tracking and longitudinal speed tracking controller are based on IMC algorithm and are carried out respectively. A simulation tool is introduced in this paper and some simulation tests were conducted to verify the proposed trajectory planning algorithm. The simulation results show that the proposed trajectory tracking algorithm is valid and good for the applications of vehicle driving in complex environment.

• 出版日期2013
• 单位汽车仿真与控制国家重点实验室; 吉林大学