Design of a nonlinear trailer steering controller

Author

Nitzsche, Gunter ; Robenack, Klaus ; Wagner, Steffen ; Zipser, Stephan

Author_Institution

Fraunhofer Inst. for Transp. & Infrastruct. Syst. IVI, Dresden, Germany

fYear

2014

fDate

8-11 June 2014

Firstpage

1139

Lastpage

1144

Abstract

In this paper the authors present a design approach of a nonlinear controller for steered semi-trailers of heavy commercial vehicles, which is used to improve their maneuverability. The proposed control structure uses the exact input-output linearization. Additionally, a sliding mode control approach (SMC) is used to overcome model uncertainties as well as control errors and increase robustness. The practicability of the control structure is shown with simulation results of a nonlinear three-dimensional multi-body model.

Keywords

control system synthesis; linear systems; nonlinear control systems; road vehicles; steering systems; uncertain systems; variable structure systems; SMC; control structure; heavy commercial vehicles; input-output linearization; maneuverability improvement; model uncertainty; nonlinear three-dimensional multibody model; nonlinear trailer steering controller design; sliding mode control approach; steered semitrailers; Axles; Kinematics; Mathematical model; Tires; Vehicle dynamics; Vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium Proceedings, 2014 IEEE

Conference_Location

Dearborn, MI

Type

conf

DOI

10.1109/IVS.2014.6856463

Filename

6856463