Title :
Steering and braking control of tractor-semitrailer vehicles in automated highway systems
Author :
Chen, Chieh ; Tomizuka, Masayoshi
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Abstract :
Linear quadratic optimal control with and without frequency shaping is utilized to design a steering controller for tractor-semitrailer vehicles in automated highway systems (AHS). To enhance driving safety, the authors propose to use independent braking forces in the trailer as another control input. The combined steering and braking controller is designed by utilizing input/output linearization and backstepping design techniques
Keywords :
automated highways; braking; control system synthesis; linear quadratic control; linearisation techniques; nonlinear control systems; road vehicles; automated highway systems; backstepping design techniques; braking control; driving safety; frequency shaping; independent braking forces; input/output linearization; linear quadratic optimal control; steering controller; tractor-semitrailer vehicles; Automated highways; Automatic control; Backstepping; Control systems; Force control; Frequency; Optimal control; Road vehicles; Safety; Shape control;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.529332
