This paper proposes a model reference adaptive control (MRAC) strategy for active trailer steering (ATS) in order to improve the lateral stability of articulated heavy vehicles (AHVs). Optimal controllers based on the Linear Quadratic Regulator (LQR) technique have been explored to enhance the lateral stability of AHVs; these controllers are designed under the assumption that the vehicle model parameters and operating conditions are given and they remain as constants. However, in reality, the vehicle system parameters and operating conditions may vary. To address the variable payloads of trailer(s), the controller based on MRAC technique is adopted. A three degrees of freedom (DOF) linear yaw-plane tractor-semitrailer model is generated to design the control law. The reference model is also developed using the linear yaw-plane model with the LQR technique. The effectiveness of the MRAC controller is demonstrated using numerical simulations under an emulated single lane-change maneuver.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Model Reference Adaptive Control for Active Trailer Steering of Articulated Heavy Vehicles


    Weitere Titelangaben:

    Sae Technical Papers


    Beteiligte:
    Wang, Qiushi (Autor:in) / Zhu, Shenjin (Autor:in) / He, Yuping (Autor:in)

    Kongress:

    SAE 2015 World Congress & Exhibition ; 2015



    Erscheinungsdatum :

    2015-04-14




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch





    Model Reference Adaptive Control for Active Trailer Steering of Articulated Heavy Vehicles

    Wang, Qiushi / Zhu, Shenjin / He, Yuping | British Library Conference Proceedings | 2015


    Improving roll stability of articulated heavy vehicles using active semi-trailer steering

    Cheng,C. / Cebon,D. / Univ.of Cambridge,GB | Kraftfahrwesen | 2008