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.

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  • 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:

Subject/Index Terms

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