• DocumentCode
    2575791
  • Title

    Robust Lane Keeping for a Tractor-Trailer

  • Author

    Skarpetis, Michael G. ; Koumboulis, Fotis N. ; Ntellis, Achilleas S. ; Tsimos, Thomas E.

  • Author_Institution
    Halkis Inst. of Technol., Halkis
  • fYear
    2007
  • fDate
    25-28 Sept. 2007
  • Firstpage
    1437
  • Lastpage
    1440
  • Abstract
    The problem of controlling the lateral position of tractor- trailer vehicle is studied. A robust asymptotic tracking and disturbance attenuation controller is proposed. The goal of the controller is to keep the vehicle centered to a desired lane despite physical uncertainties and velocity variations. The robust controller parameters are computed using an analytic algorithm. The effectiveness of the results is illustrated through simulation.
  • Keywords
    asymptotic stability; automated highways; position control; road vehicles; robust control; tracking; analytic algorithm; automatic lane guidance; disturbance attenuation controller; lateral position control; robust asymptotic tracking; tractor-trailer vehicle; Algorithm design and analysis; Attenuation; Automatic control; Automation; Road vehicles; Robust control; Robustness; Tires; Uncertainty; Velocity control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Emerging Technologies and Factory Automation, 2007. ETFA. IEEE Conference on
  • Conference_Location
    Patras
  • Print_ISBN
    978-1-4244-0825-2
  • Electronic_ISBN
    978-1-4244-0826-9
  • Type

    conf

  • DOI
    10.1109/EFTA.2007.4416956
  • Filename
    4416956
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2575791