Title :
Experimental study of lateral control of heavy vehicles for automated highway systems (AHS)
Author_Institution :
Dept. of Mech. Eng., Polytech. Univ. Brooklyn, NY
Abstract :
In this paper, we present a comparative experimental study of lateral controllers of heavy vehicles for automated driving. Three controllers, a sliding mode controller, a linear feedback controller with a feedforward compensation and a linear feedback controller, are compared by analysis and by experiments. They axe closely related to one another by means of the constituting terms of the controllers. Experiments are conducted on a test vehicle, a tractor-semitrailer combination, on a 2000 m long test track. Some implementation issues as well as the advantages and disadvantages of each controller are discussed.
Keywords :
automated highways; controllers; variable structure systems; automated driving; automated highway systems; feedforward compensation; heavy vehicles lateral control; linear feedback controller; sliding mode controller; tractor-semitrailer combination; Adaptive control; Automated highways; Automatic control; Control systems; Linear feedback control systems; Open loop systems; Road vehicles; Sliding mode control; Testing; Vehicle driving;
Conference_Titel :
American Control Conference, 2002. Proceedings of the 2002
Print_ISBN :
0-7803-7298-0
DOI :
10.1109/ACC.2002.1023122