Undershoot Response Analysis for Circular Path-Following Vehicle Control Based on Zeros in the Time-State Control Form

In this study, we discuss the undershoot response in a circular path-following control of a vehicle based on the time-state control form. For a circular path-following control of a vehicle, rotational coordinate transformation is applied to the vehicle model. However, through numerical simulations, we found that undershoot responses occurred under certain initial conditions of the vehicle. The occurrence of undershoot responses indicates that the output in the transient response moves in the opposite direction to the step reference value and is related to the zeros of the transfer function. In this study, we focus on the zeros of the transfer function of the vehicle by applying rotational coordinate transformation to clarify the conditions for the undershoot responses.