TWO STEPS H 1 CONTROLLER SYNTHESIS FOR TRACTOR-SEMITRAILER LATERAL CONTROL

This paper addresses the problem of tractor-semitrailer lateral control using two degrees of freedom H 1 optimization. The synthesis procedure allows the separate processing of the robust stabilization problem and reference signal or disturbance rejection. The closed loop part achieves the robust stability requirement in the Gap metric, while the prefilter part processes the reference signal and is designed to achieve model matching. The model used for control development is first presented, this model includes actuator delays and parameters variations. The synthesis steps are then detailed, the performances and the robustness of the controller are finally investigated by considering several maneuvers such as lane keeping and lane change with parameter variations. For the covering abstract see IRRD E102946.

• Availability:
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• Corporate Authors:

  ORGANIZING COMMITTEE 5TH WORLD CONGRESS

  KUSANG BLDG, 4TH FLOOR, 1009-5, DAECHI-DONG KANGNAM-KU
  SEOUL, ZZ KOREA    135-283
• Authors:
  • MAMMAR, S
• Conference:
  • TOWARDS THE NEW HORIZON TOGETHER. PROCEEDINGS OF THE 5TH WORLD CONGRESS ON INTELLIGENT TRANSPORT SYSTEMS, HELD 12-16 OCTOBER 1998, SEOUL, KOREA. PAPER NO. 3174
• Publication Date: 1998

Language

• English

Subject/Index Terms

• TRT Terms: Control; Driving; Handling characteristics; Intelligent transportation systems; Steering; Traffic lanes
• ITRD Terms: 8531: Case study; 3874: Control; 1855: Driving (veh); 1834: Steering (process); 2827: Traffic lane; 1646: Vehicle handling
• Subject Areas: Highways; Operations and Traffic Management;

Filing Info

• Accession Number: 00781120
• Record Type: Publication
• Source Agency: Transport Research Laboratory
• ISBN: 89-950073-2-X
• Files: ITRD
• Created Date: Jan 7 2000 12:00AM