Title :
A Study on Automatic Driving Technique of Tractor-Semitrailer
Author :
Li Xian-sheng ; Zhang Jian-Guo
Author_Institution :
Coll. of Transp., Jilin Univ., Changchun, China
Abstract :
In order to elevate the driving stability of tractor-semitrailer for automated vehicle control, the issue of automated steering and independent braking control of a tractor-semitrailer vehicle system is delivered. The input/output linearization and Lyapunov minimax approach were used and combined in the design of the control. The design was programmed and simulated in Matlab. The results show that in spite of the presence uncertainty, the proposed design achieves lane following and prevents the jack-knifing phenomenon of tractor-semitrailer system.
Keywords :
Lyapunov methods; agricultural machinery; braking; linearisation techniques; minimax techniques; steering systems; Lyapunov minimax approach; Matlab simulation; automated steering; automated vehicle control; automatic driving technique; independent braking control; input-output linearization; jackknifing phenomenon; tractor-semitrailer; Automatic control; Control design; Control systems; Educational institutions; Minimax techniques; Stability; Torque control; Transportation; Uncertainty; Vehicle driving; driving stability; steering and braking control; style; tractor-semi trailer; vehicle engineering;
Conference_Titel :
Measuring Technology and Mechatronics Automation (ICMTMA), 2010 International Conference on
Conference_Location :
Changsha City
Print_ISBN :
978-1-4244-5001-5
Electronic_ISBN :
978-1-4244-5739-7
DOI :
10.1109/ICMTMA.2010.317
