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Lateral Control Of Tractor-semitrailer Vehicles In Automated Highway Systems

Author

Listed:
  • Chen, Chien
  • Tomizuka, Masayoshi

Abstract

In this paper, linear quadratic optimal control with and without frequency shaping is utilized to design a steering controller for tractor- semitrailer vehicles in Automated Highway Systems (AHS). To enhance driving safety, the authors propose to use independent braking forces in the trailer as another control input. The combined steering and braking controller is designed by utilizing Input/Output linearization and backstepping design techniques.

Suggested Citation

  • Chen, Chien & Tomizuka, Masayoshi, 1996. "Lateral Control Of Tractor-semitrailer Vehicles In Automated Highway Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt5235j21k, Institute of Transportation Studies, UC Berkeley.
    • Handle: RePEc:cdl:itsrrp:qt5235j21k
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    File URL: https://www.escholarship.org/uc/item/5235j21k.pdf;origin=repeccitec
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    References listed on IDEAS

    as
    1. Chen, Chieh & Tomizuka, Masayoshi, 1995. "Dynamic Modeling Of Tractor-semitrailer Vehicles In Automated Highway Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4cd4x08c, Institute of Transportation Studies, UC Berkeley.
    2. Yanakiev, Diana & Kanellakopoulos, Ioannis, 1995. "Analysis, Design, And Evaluation Of AVCS For Heavy-duty Vehicles: Phase 1 Report," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt2pw3920z, Institute of Transportation Studies, UC Berkeley.
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    Cited by:

    1. Hingwe, Pushkar & Wang, Jeng-Yu & Tai, Meihua & Tomizuka, Masayoshi, 2000. "Lateral Control of Heavy Duty Vehicles for Automated Highway System: Experimental Study on a Tractor Semi-trailer," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt9jj235kx, Institute of Transportation Studies, UC Berkeley.

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