Title :
Regulating performance for tractor-semitrailer vehicle systems: a Lyapunov minimax approach
Author :
Lee, T.S. ; Chen, Y.H. ; Chuang, C.-H.
Author_Institution :
Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
The problem of automated steering and independent braking control for a tractor-semitrailer vehicle system is addressed. The control is designed by combining the input/output linearization and Lyapunov minimax approach. The proposed design achieves, despite of the presence of uncertainty, lane following and prevents the jack-knifing phenomenon of trailer yaw motion
Keywords :
Lyapunov methods; braking; control system synthesis; dynamics; linearisation techniques; minimax techniques; position control; road vehicles; tracking; Lyapunov method; articulated vehicles; automated steering; braking control; dynamics; lane following; linearization; minimax method; tractor-semitrailer vehicle; Aerospace engineering; Automatic control; Control design; Control systems; Equations; Minimax techniques; Motion control; Tires; Torque control; Vehicle dynamics;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.609219
