Title :
Lateral control of tractor-trailer vehicles
Author :
Martini, Stefania ; Murdocco, Vincenzo
Author_Institution :
Vehicles Dept., Vehicle Control Syst., Orbassano, Italy
Abstract :
This paper dealt with the problem of designing and tuning a control system for steering a tractor-trailer vehicle along a highway and keep it in the current lane automatically, using information from a stereo vision sensor system mounted inside the cabin. The lateral control strategy combines a feed-forward part with a feedback term which has been designed based on H∞ control theory. Field tests have confirmed that the designed control algorithm provides desired performances under a large set of conditions.
Keywords :
H∞ control; feedback; feedforward; position control; road vehicles; state-space methods; stereo image processing; H∞ control theory; automated highway; control algorithm; control system design; control system tuning; driver information systems; feedback term; feedforward part; steering; stereo vision sensor system; tractor trailer vehicle control; Automated highways; Automatic control; Control systems; Control theory; Feedback; Feedforward systems; Road vehicles; Sensor systems; Stereo vision; Testing;
Conference_Titel :
Control Applications, 2003. CCA 2003. Proceedings of 2003 IEEE Conference on
Print_ISBN :
0-7803-7729-X
DOI :
10.1109/CCA.2003.1223323
