Path following control of articulated vehicle by backward driving

Author

Saeki, Masami

Author_Institution

Dept. of Mech. Syst. Eng., Hiroshima Univ., Higashi-Hiroshima, Japan

Volume

1

fYear

2002

fDate

2002

Firstpage

421

Abstract

In this paper, a design method for path following control of an articulated vehicle while driving backwards is proposed. This control law is constructed by combining two control laws: a control law for path following of a single vehicle and a control law which enables the articulated vehicle to behave like a single vehicle being steered backwards. This system has a pleasing flexibility in the sense that it can be used not only as a fully automatic control system but also as a man-machine system that assists a driver skilled in single vehicle driving.

Keywords

control system synthesis; man-machine systems; nonlinear control systems; position control; road vehicles; vehicle dynamics; articulated vehicle; backward driving; car-caravan vehicle; control law; fully automatic control system; hierarchical structure; man-machine system; nonlinear control design; path following control; single vehicle; Automatic control; Automotive engineering; Control systems; Design engineering; Design methodology; Man machine systems; Mechanical systems; Systems engineering and theory; Vehicle driving; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2002. Proceedings of the 2002 International Conference on

Print_ISBN

0-7803-7386-3

Type

conf

DOI

10.1109/CCA.2002.1040223

Filename

1040223