On Robust Controllers for Active Steering Systems of Articulated Heavy Vehicles

This paper examines the robustness of different controllers for active steering systems (ASSs) of articulated heavy vehicles (AHVs) in terms of the directional performance. Controllers based on the linear quadratic regulator (LQR) technique were designed for ASSs. The success of the LQR-based controllers is dependent on the accuracy of linear models for AHVs. When designing ASS controllers, linearization of the AHV models is usually necessary; this results in model inaccuracy and un-modelled dynamics, and the robustness of the LQR-based controllers may be degraded. ASSs for AHVs are assessed in the time-domain, which may lead to an incomplete performance evaluation. This paper assesses the robustness of the ASS controllers designed with the techniques of sliding mode control (SMC), nonlinear sliding mode control (NSMC), and mu-synthesis (MS). The ASS controllers are evaluated using numerical simulation in terms of the trade-off between the maneuverability and the lateral stability at high speeds.

• Record URL:
  • https://doi.org/10.1504/IJHVS.2019.097108
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/1744232X
• Supplemental Notes:
  • Copyright © 2018 Inderscience Enterprises Ltd.
• Authors:
  • Zhu, Shenjin
  • He, Yuping
  • Ren, Jing
• Publication Date: 2019

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 1-30
• Serial:
  • International Journal of Heavy Vehicle Systems
  • Volume: 26
  • Issue Number: 1
  • Publisher: Inderscience Enterprises Limited
  • ISSN: 1744-232X
  • EISSN: 1741-5152
  • Serial URL: http://www.inderscience.com/jhome.php?jcode=IJHVS

Subject/Index Terms

• TRT Terms: Articulated cars; Automatic steering control; Heavy vehicles; Mathematical models; Stability (Mechanics); Steering systems
• Subject Areas: Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01691091
• Record Type: Publication
• Files: TRIS
• Created Date: Jan 22 2019 11:39AM