Study on Robust PID System for Vehicle Motion Control Using Taguchi Method
タグチメソッドを用いたロバストな自動車PID制御システムの設計及び検討
- Delivery
- Available on this site
- Format
- Price
- Non-members (tax incl.)：￥1,100 Members (tax incl.)：￥880
- Publication code
- 20264419
- Paper/Info type
- Journal of Society of Automotive Engineers of Japan
Vol.80 No.5
- Pages
- 110-116(Total 7 p)
- Date of publication
- May 2026
- Publisher
- JSAE
- Language
- Japanese
Detailed Information
| Category(J) | ホットトピックス Translation |
|---|---|
| Category(E) | Hot Topics |
| Author(J) | 1) 菊田 陸, 2) 田口 伸, 3) 本山 惠一 |
| Author(E) | 1) Riku Kikuta, 2) Shin Taguchi, 3) Keiichi Motoyama |
| Affiliation(J) | 1) Mississippi State University, 2) ASI Consulting Group, 3) Mississippi State University |
| Abstract(J) | 自動車制御において、予測困難な事象(ノイズ)は制御の堅牢性を損なう大きな課題である。本研究ではタグチメソッドを用いた頑健なパラメータ最適化手法を提案し、操舵制御に適用した。実験の結果、S/N比の向上を確認し、外乱下でも高い堅牢性と安定した制御性能を維持できることを示した。 Translation |
| Abstract(E) | This study addresses the challenge of robustness in autonomous driving systems, specifically focusing on PID-based path following. While various optimization techniques exist, unpredictable deadtime remains a major obstacle to maintaining stable performance. To overcome this, we propose a robust parameter optimization approach based on the Taguchi method applied to steering control. By utilizing orthogonal arrays and signal-to-noise (S/N) ratios, the method systematically identifies parameters less sensitive to variations. Experimental results demonstrate that the proposed approach effectively enhances system robustness against deadtime disturbances, achieving superior performance stability compared to traditional tuning methods. |
