This paper considers robust controller design methods applied to the problem of an automatic steering system for tow-vehicle/trailer combinations. An Inverse Linear Quadratic Regulator (ILQR) approach is followed. It combines pole assignment methods with conventional Linear Quadratic Regulator (LQR) methods. It overcomes two problems associated with these separate methods. It overcomes the robustness problems associated with pole placement methods, and overcomes the trial and error required in the application of the LQR method. Moreover, methods for obtaining robust observer performance are considered. A Kalman filter is used as the observer, but it is modified by using the loop transfer recovery (LTR) technique. This technique recovers the robustness of the full-state feedback regulator. The combination of the robust regulator and robust filter is called a ILQG/LTR controller.


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    Title :

    A robust steering controller design for combination vehicles to enhance stability and maneuverability


    Additional title:

    Die Auslegung eines robusten Lenkungsreglers für Zugmaschinen mit Auflieger zur Verbesserung der Stabilität und Manövrierbarkeit


    Contributors:
    Park, Y.W. (author) / Kimbrough, S. (author)


    Publication date :

    1994


    Size :

    8 Seiten, 7 Bilder, 1 Tabelle



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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