Controller parameter tuning for gain-scheduled vehicle yaw-rate control: Virtual reference feedback tuning approach.

In control theory, a controller parameter-tuning method called virtual reference feedback tuning (VRFT) is proposed. VRFT can tune a feedback controller using single experimental data. If VRFT can be applied to a vehicle, the yaw-rate controller can be adequately tuned without the need for a vehicle model. Therefore, this study expands the results of VRFT to realize the desired yaw-rate control of autonomous vehicles. The key point of the proposed method is to realize the auto-tuning of the gain-schedule proportional-integral (PI) controller based on the vehicle velocity. In this study, the validity of the proposed method using a vehicle dynamics block set is verified. [ABSTRACT FROM AUTHOR]