Lateral Control Of Tractor-semitrailer Vehicles In Automated Highway Systems

Chien Chen and Masayoshi Tomizuka

Institute of Transportation Studies, Research Reports, Working Papers, Proceedings from Institute of Transportation Studies, UC Berkeley

Abstract: In this paper, linear quadratic optimal control with and without frequency shaping is utilized to design a steering controller for tractor- semitrailer vehicles in Automated Highway Systems (AHS). To enhance driving safety, the authors propose to use independent braking forces in the trailer as another control input. The combined steering and braking controller is designed by utilizing Input/Output linearization and backstepping design techniques.

Keywords: Trucks--Automatic control--Mathematical models; Trucks--Dynamics--Mathematical models; Express highways--Automation--Mathematical models (search for similar items in EconPapers)
Date: 1996-01-01
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Citations: View citations in EconPapers (1)

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