DESIGN OF ORIENTATION CONTROLLERS FOR BACKING-UP MANEUVERS OF TRACTOR-TRAILER VEHICLES IN THE PRESENCE OF ACTUATOR SATURATION

被引：0

作者：

Yuan, Hongliang ^{[2
]}

Shim, Taehyun ^{[1
]}

Rhode, Douglas ^{[3
]}

Recker, Darrel ^{[3
]}

机构：

[1] Univ Michigan, Dept Mech Engn, Dearborn, MI 48128 USA

[2] Tongji Univ, Dept Control Sci & Engn, Shanghai 201804, Peoples R China

[3] Ford Motor Co, Res & Adv Engn, Dearborn, MI 48121 USA

来源：

PROCEEDINGS OF THE ASME 5TH ANNUAL DYNAMIC SYSTEMS AND CONTROL DIVISION CONFERENCE AND JSME 11TH MOTION AND VIBRATION CONFERENCE, DSCC 2012, VOL 1 | 2013年

关键词：

PATH-TRACKING; SYSTEMS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a development of a robust steering controller that can be used for backing up maneuver of tractor-trailer vehicles. Tractor-trailer vehicles are naturally unstable when backing up maneuvers are performed. It is even more challenging for an inexperience driver to backing a trailer along a straight line since small errors in steering are amplified and the vehicle often departs from the desired path. Therefore it is desirable to develop a control system that can be used for such a scenario. In this paper, a robust controller is developed by using Lyapunov method based on a kinematic vehicle model for an application of tractor-trailer vehicles operating at a low speed in which state and input constraints are explicitly considered. The simulation results show the effectiveness of the proposed controller.

引用

页码：881 / +

页数：2

共 8 条

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