Title :
Path following control of articulated vehicle by backward driving
Author_Institution :
Dept. of Mech. Syst. Eng., Hiroshima Univ., Higashi-Hiroshima, Japan
Abstract :
In this paper, a design method for path following control of an articulated vehicle while driving backwards is proposed. This control law is constructed by combining two control laws: a control law for path following of a single vehicle and a control law which enables the articulated vehicle to behave like a single vehicle being steered backwards. This system has a pleasing flexibility in the sense that it can be used not only as a fully automatic control system but also as a man-machine system that assists a driver skilled in single vehicle driving.
Keywords :
control system synthesis; man-machine systems; nonlinear control systems; position control; road vehicles; vehicle dynamics; articulated vehicle; backward driving; car-caravan vehicle; control law; fully automatic control system; hierarchical structure; man-machine system; nonlinear control design; path following control; single vehicle; Automatic control; Automotive engineering; Control systems; Design engineering; Design methodology; Man machine systems; Mechanical systems; Systems engineering and theory; Vehicle driving; Vehicles;
Conference_Titel :
Control Applications, 2002. Proceedings of the 2002 International Conference on
Print_ISBN :
0-7803-7386-3
DOI :
10.1109/CCA.2002.1040223
