A Robust Backward Steering Controller Design for Combination Vehicles University of Utah

Format:

Conference/Event

Author/Creator:

Park, Yong Woon, author.

Conference Name:

International Truck and Bus Meeting & Exposition (1994-11-07 : Seattle, Washington, United States)

Language:

English

Physical Description:

1 online resource

Place of Publication:

Warrendale, PA SAE International 1994

Summary:

This paper considers robust controller design applied to a backward steering system for tow-vehicle/trailer combinations. An Inverse Linear Quadratic Regulator (ILQR) approach is followed. It combines pole assignment methods with conventional LQ problem. It overcomes two problems associated with these separate methods. It overcomes the robustness problems of pole placement methods, and overcomes the trial and error required in the LQR method. A Kalman observer is used, but is modified by using the loop transfer recovery (LTR) technique. The combination of the robust LQ problem and robust filter is called a ILQG/LTR controller.The proposed controller is applied to both 2WS and 4WS tow-vehicle and shows significantly more robust performance than previous controllers. Moreover, employing a 4WS tow-vehicle significantly expands the range and effectiveness of the control

Notes:

Vendor supplied data

Publisher Number:

942333

Access Restriction:

Restricted for use by site license