Title :
Robust Lane Keeping for a Tractor-Trailer
Author :
Skarpetis, Michael G. ; Koumboulis, Fotis N. ; Ntellis, Achilleas S. ; Tsimos, Thomas E.
Author_Institution :
Halkis Inst. of Technol., Halkis
Abstract :
The problem of controlling the lateral position of tractor- trailer vehicle is studied. A robust asymptotic tracking and disturbance attenuation controller is proposed. The goal of the controller is to keep the vehicle centered to a desired lane despite physical uncertainties and velocity variations. The robust controller parameters are computed using an analytic algorithm. The effectiveness of the results is illustrated through simulation.
Keywords :
asymptotic stability; automated highways; position control; road vehicles; robust control; tracking; analytic algorithm; automatic lane guidance; disturbance attenuation controller; lateral position control; robust asymptotic tracking; tractor-trailer vehicle; Algorithm design and analysis; Attenuation; Automatic control; Automation; Road vehicles; Robust control; Robustness; Tires; Uncertainty; Velocity control;
Conference_Titel :
Emerging Technologies and Factory Automation, 2007. ETFA. IEEE Conference on
Conference_Location :
Patras
Print_ISBN :
978-1-4244-0825-2
Electronic_ISBN :
978-1-4244-0826-9
DOI :
10.1109/EFTA.2007.4416956
