STEERING CONTROLLER DESIGN FOR AUTOMATED GUIDEWAY TRANSIT VEHICLES

The fundamental lateral performance capabilities of rubber-tired automated guideway transit (AGT) vehicles operating under automatic steering control on exclusive guideways are discussed. Control is achieved by steering the front wheels in response to signals derived from the position errors between the vehicle and a guideway-based reference containing random irregularities. Optimal control techniques are used to synthesize controllers which minimize a performance index consisting of mean square lateral acceleration and tracking error, defining a frontier which limits the performance of steering controllers. Simple single-sensor proportional steering controllers are found to offer performance comparable to the optimum for a typical AGT vehicle. The degradations in performance arising from dynamic lags in the steering actuator and operation at off-design speeds are shown.

  • Supplemental Notes:
    • Proc of the Jt Autom Control Conf, San Francisco, California, June 22-24, 1977.
  • Corporate Authors:

    Institute of Electrical and Electronics Engineers

    3 Park Avenue, 17th Floor
    New York, NY  USA  10016-5997
  • Authors:
    • Shladover, S E
    • Wormley, D N
    • Richardson, H H
    • Fish, R
  • Conference:
  • Publication Date: 1977

Media Info

  • Features: References;
  • Pagination: p. 408-414
  • Serial:
    • Volume: 1

Subject/Index Terms

Filing Info

  • Accession Number: 00170468
  • Record Type: Publication
  • Source Agency: Engineering Index
  • Report/Paper Numbers: N 77CH 1220-3CS Proceeding
  • Files: TRIS
  • Created Date: Feb 16 1982 12:00AM