Title :
Design of a nonlinear trailer steering controller
Author :
Nitzsche, Gunter ; Robenack, Klaus ; Wagner, Steffen ; Zipser, Stephan
Author_Institution :
Fraunhofer Inst. for Transp. & Infrastruct. Syst. IVI, Dresden, Germany
Abstract :
In this paper the authors present a design approach of a nonlinear controller for steered semi-trailers of heavy commercial vehicles, which is used to improve their maneuverability. The proposed control structure uses the exact input-output linearization. Additionally, a sliding mode control approach (SMC) is used to overcome model uncertainties as well as control errors and increase robustness. The practicability of the control structure is shown with simulation results of a nonlinear three-dimensional multi-body model.
Keywords :
control system synthesis; linear systems; nonlinear control systems; road vehicles; steering systems; uncertain systems; variable structure systems; SMC; control structure; heavy commercial vehicles; input-output linearization; maneuverability improvement; model uncertainty; nonlinear three-dimensional multibody model; nonlinear trailer steering controller design; sliding mode control approach; steered semitrailers; Axles; Kinematics; Mathematical model; Tires; Vehicle dynamics; Vehicles; Wheels;
Conference_Titel :
Intelligent Vehicles Symposium Proceedings, 2014 IEEE
Conference_Location :
Dearborn, MI
DOI :
10.1109/IVS.2014.6856463
