In this paper the authors present how the exact input-output linearization technique can be used for a nonlinear trailer steering controller in order to improve the maneuverability of heavy commercial vehicles with semi-trailers. In order to overcome modeling uncertainties and to increase the robustness, the exact input-output linearization is extended with a sliding mode control approach. This paper focuses on the applicability of the exact input-output linearization. It is analyzed, whether the relative degree is well-defined with respect to the variation of typical vehicle parameters.
Exact Input-Output Linearization for a Trailer Steering Controller
2015-09-01
731963 byte
Conference paper
Electronic Resource
English
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