標題: Lateral control of commercial heavy vehicles
作者: Chen, C
Tomizuka, M
機械工程學系
Department of Mechanical Engineering
公開日期: 2000
摘要: Two nonlinear lateral control algorithms are designed for a tractor-semitrailer type commercial heavy vehicle. The baseline steering control algorithm is designed utilizing input-output linearization. To enhance the lateral stability and furthermore reduce tracking errors of the trailer, braking forces are independently controlled on the inner and outer wheels of the trailer. The coordinated steering and braking control algorithm is designed based on the multivariable backstepping technique. Simulations conducted using the complex model show that the trailer yaw errors under coordinated steering and independent braking force control are much smaller than those without independent braking force control.
URI: http://hdl.handle.net/11536/30829
ISSN: 0042-3114
期刊: VEHICLE SYSTEM DYNAMICS
Volume: 33
Issue: 6
起始頁: 391
結束頁: 420
顯示於類別:期刊論文


文件中的檔案:

  1. 000087646000002.pdf