標題: | Lateral control of commercial heavy vehicles |
作者: | Chen, C Tomizuka, M 机械工程学系 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 https://doi.org/10.1076/0042-3114(200006)33:6;1-M;FT391 |
ISSN: | 0042-3114 |
期刊: | VEHICLE SYSTEM DYNAMICS |
Volume: | 33 |
Issue: | 6 |
起始頁: | 391 |
結束頁: | 420 |
Appears in Collections: | Articles |