Lateral Position Control for a Tractor-trailer System Using Steering Rate Input

被引：0
|
作者：
Wu, Tong [1 ]
Hung, John Y. [1 ]
机构：
[1] Auburn Univ, Dept Elect & Comp Engn, Auburn, AL 36849 USA
来源：
2017 IEEE 26TH INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE) | 2017年
关键词：
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper, the authors present a trailer lateral position controller for a non-collocated tractor-trailer system, using steering rate instead of steering angle as control input variable to reduce the tracking error when reference path is a curve. Coordinate transformation is defined at each control sample. Linear quadratic regulator (LQR) is used to eliminate lateral position error. The constraints on steering rate, steering angle and angle difference between tractor and trailer are considered. Simulation results show that the system is able to track lines and curves for both forward and backward motion
引用
收藏
页码：503 / 507
页数：5
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