Robust Lateral Control of Heavy Duty Vehicles: Final Report

This report describes a project which focused on designing new controllers or redesigning existing controllers for the lateral control of heavy vehicles. It summarizes all types of nonlinear and adaptive controllers for the lateral control of heavy vehicles. Various nonlinear robust control techniques such as sliding mode control, adaptive robust control, and robust nonlinear control based on feedback linearization are examined. The controllers are implemented on a tractor-semitrailer combination and their experimental results are compared.

Record URL:
Record URL:
Availability:
- Find a library where document is available. Order URL: http://worldcat.org/issn/10551425
Supplemental Notes:
- Publication Date: July 2003. California PATH Program, Institute of Transportation Studies University of California, Berkeley CA. Format: website
Corporate Authors:
University of California, Berkeley

Department of Mechanical Engineering
Berkeley, CA United States 94720-1740

University of California, Berkeley

California PATH Program, Institute of Transportation Studies
Richmond Field Station, 1357 South 46th Street
Richmond, CA United States 94804-4648

California Department of Transportation

1120 N Street
Sacramento, CA United States 95814
Authors:
- Tai, Meihua
- Tomizuka, Masayoshi
Publication Date: 2003

Language

English

Media Info

Pagination: 73 p.
Serial:
- PATH Research Report
- Publisher: University of California, Berkeley
- ISSN: 1055-1425

Subject/Index Terms

TRT Terms: Automatic steering control; Sliding mode control; Trucks
Subject Areas: Design; Motor Carriers; Vehicles and Equipment;

Filing Info

Accession Number: 00961280
Record Type: Publication
Source Agency: UC Berkeley Transportation Library
Report/Paper Numbers: UCB-ITS-PRR-2003-24
Files: PATH, STATEDOT
Created Date: Aug 4 2003 12:00AM