Steering and independent braking control for tractor-semitrailer vehicles in automated highway systems

Author

Chen, Chieh ; Tomizuka, Masayoshi

Author_Institution

Dept. of Mech. Eng., California Univ., Berkeley, CA, USA

Volume

2

fYear

1995

fDate

13-15 Dec 1995

Firstpage

1561

Abstract

A steering and independent braking control for a tractor-semitrailer vehicle is proposed to achieve lane following in automated highway systems. Independent braking force of the semitrailer is utilized to stabilize the trailer yaw motion and thus to prevent the potential occurrence of jack-knifing. The control algorithm is designed by the input/output linearization and the adaptive backstepping design methodologies

Keywords

adaptive control; asymptotic stability; automated highways; braking; force control; linearisation techniques; motion control; road vehicles; tracking; adaptive backstepping control; asymptotic stability; automated highway systems; independent braking control; input/output linearization; lane following; motion stabilisation; steering; tractor-semitrailer vehicle; trailer yaw motion; Algorithm design and analysis; Automated highways; Automatic control; Backstepping; Control systems; Design methodology; Remotely operated vehicles; Road safety; Road vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1995., Proceedings of the 34th IEEE Conference on

Conference_Location

New Orleans, LA

ISSN

0191-2216

Print_ISBN

0-7803-2685-7

Type

conf

DOI

10.1109/CDC.1995.480360

Filename

480360