Exact Input-Output Linearization for a Trailer Steering Controller

In this paper the authors present how the exact input-output linearization technique can be used for a nonlinear trailer steering controller in order to improve the maneuverability of heavy commercial vehicles with semi-trailers. In order to overcome modeling uncertainties and to increase the robustness, the exact input-output linearization is extended with a sliding mode control approach. This paper focuses on the applicability of the exact input-output linearization. It is analyzed, whether the relative degree is well-defined with respect to the variation of typical vehicle parameters.

• Record URL:
  • https://doi.org/10.1109/ITSC.2015.161
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/isbn/9781467365956
• Supplemental Notes:
  • Abstract reprinted with permission of IEEE.
• Corporate Authors:

  Institute of Electrical and Electronics Engineers (IEEE)

  3 Park Avenue, 17th Floor
  New York, NY  United States  10016-5997
• Authors:
  • Nitzsche, Gunter
  • Röbenack, Klaus
  • Wagner, Sebastian
  • Zipser, Stephan
• Conference:
  • 18th International IEEE Conference on Intelligent Transportation Systems (ITSC)
  • Location: Canary Islands , Spain
  • Date: 2015-9-15 to 2015-9-18
• Publication Date: 2015

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 962-967
• Monograph Title: 18th International IEEE Conference on Intelligent Transportation Systems (ITSC 2015)

Subject/Index Terms

• TRT Terms: Automatic controllers; Heavy vehicles; Maneuverability; Sliding mode control; Steering; Trailers
• Uncontrolled Terms: Input-output linearization
• Subject Areas: Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01599961
• Record Type: Publication
• ISBN: 9781467365956
• Files: TRIS
• Created Date: May 23 2016 12:04PM