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.

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

Filing Info

  • Accession Number: 01599961
  • Record Type: Publication
  • ISBN: 9781467365956
  • Files: TRIS
  • Created Date: May 2 2016 3:23PM