Two nonlinear lateral control algorithms are designed for a tractor-semitrailer type commercial heavy vehicle. The baseline steering control algorithm is designed utilizing input-output linearization. To enhance the lateral stability and furthermore reduce tracking errors of the trailer, braking forces are independently controlled on the inner and outer wheels of the trailer. The coordinated steering and braking control algorithm is designed based on the multivariable backstepping technique. Simulations conducted using the complex model show that the trailer yaw errors under coordinated steering and independent braking force control are much smaller than those without independent braking force control.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Lateral control of commercial heavy vehicles


    Contributors:
    Chen, Chieh (author) / Tomizuka, M. (author)

    Published in:

    Vehicle System Dynamics ; 33 , 6 ; 391-420


    Publication date :

    2000


    Size :

    30 Seiten, 34 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    Lateral Control of Commercial Heavy Vehicles

    Chen, C. | Online Contents | 2000


    Lateral Control of Commercial Heavy Vehicles

    Chen, Chieh / Tomizuka, Masayoshi | Taylor & Francis Verlag | 2000


    Lateral control of commercial heavy vehicles

    Chen,C. / Tomizuka,M. / National Chiao Tung Univ.,Dep.of Mech.Engng.,CN et al. | Automotive engineering | 2000



    Lateral control of heavy duty vehicles

    Zimmermann, A. / Hipp, E. / Dorner, K. et al. | British Library Conference Proceedings | 2005