Title :
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
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;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.480360
