A Robust Backward Steering Controller Design for Combination Vehicles 942333
This paper considers robust controller design applied to a backward steering system for tow-vehicle/trailer combinations. An Inverse Linear Quadratic Regulator (ILQR) approach is followed. It combines pole assignment methods with conventional LQ problem. It overcomes two problems associated with these separate methods. It overcomes the robustness problems of pole placement methods, and overcomes the trial and error required in the LQR method. A Kalman observer is used, but is modified by using the loop transfer recovery (LTR) technique. The combination of the robust LQ problem and robust filter is called a ILQG/LTR controller.
The proposed controller is applied to both 2WS and 4WS tow-vehicle and shows significantly more robust performance than previous controllers. Moreover, employing a 4WS tow-vehicle significantly expands the range and effectiveness of the control.
Citation: Park, Y. and Kimbrough, S., "A Robust Backward Steering Controller Design for Combination Vehicles," SAE Technical Paper 942333, 1994, https://doi.org/10.4271/942333. Download Citation
Author(s):
Yong Woon Park, Scott Kimbrough
Affiliated:
University of Utah
Pages: 10
Event:
International Truck & Bus Meeting & Exposition
ISSN:
0148-7191
e-ISSN:
2688-3627
Related Topics:
Steering systems
SAE MOBILUS
Subscribers can view annotate, and download all of SAE's content.
Learn More »
