This paper proposes a gain-scheduled controller synthesis for improving the lateral performance and stability of articulated heavy vehicles by active steering of the selected towed vehicle units. The longitudinal velocity is on-line measurable, and it is thus treated as a scheduling parameter in the gain-scheduled controller synthesis. The lateral performance of four articulated heavy vehicles, including existing Nordic heavy vehicles and prospective longer articulated heavy vehicles, are investigated with and without active steering and compared with a commonly used conventional tractor–semitrailer. The control problem is formulated as an H static output feedback, which uses only information from articulation angles between the steered vehicle unit and the vehicle unit in front of it. The solution of the problem is obtained within the linear matrix inequality framework, while guaranteeing H performance objectives. Effectiveness of the designed controller is verified through numerical simulations performed on high-fidelity vehicle models. The results confirm a significant reduction in yaw rate rearward amplification, lateral acceleration rearward amplification, and high-speed transient off-tracking, thereby improving the lateral stability and performance of all studied heavy vehicles at high speeds.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Gain-scheduled H controller synthesis for actively steered longer and heavier commercial vehicles


    Beteiligte:


    Erscheinungsdatum :

    2020-06-01


    Format / Umfang :

    21 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    On robust steering based lateral control of longer and heavier commercial vehicles

    Sadeghi Kati, Maliheh / Chalmers tekniska högskola | TIBKAT | 2018


    On The Dynamics of Actively Steered Railway Vehicles

    POWELL, A. J. | Taylor & Francis Verlag | 1998


    On the Dynamics of Actively Steered Railway Vehicles

    Powell, A. J. / International Association for Vehicle System Dynamics | British Library Conference Proceedings | 1998


    On the Dynamics of Actively Steered Railway Vehicles

    Powell, A.J. | Online Contents | 1998


    On the Dynamics of Actively Steered Railway Vehicles

    Powell, A.J. | Online Contents | 1998