Robust tracking controller design for active dolly steering
Artikel i vetenskaplig tidskrift, 2018

In this paper different actuation level steering control methods for an A-double vehicle combination (tractor-semitrailer-dolly-semitrailer) are proposed. The aim of the paper is to show viability of advanced actuation control strategies on a practical vehicular application. Three different types of robust controllers are proposed: a robust Proportional Integral Derivative (PID) controller, an output feedback linear Hinf controller and an induced L2-norm minimizing Linear Parameter Varying (LPV) controller. All controllers are augmented with anti-windup compensators to respect steering angle and steering rate limits. Each model based controller robustly rejects external disturbances and tracks a reference steering angle, generated by motion control system. Frequency- and time domain analysis proves that Hinf and LPV controllers outperform PID controller in terms of reference tracking and disturbance rejection. Comparative simulation scenarios are provided on the basis of Volvo Group Trucks Technology’s high fidelity vehicle simulator.

active dolly steering

long heavy vehicles

robust control

actuation level control

Författare

Balázs Varga

Chalmers, Elektroteknik, System- och reglerteknik, Reglerteknik

Balázs Adam Kulcsár

Chalmers, Elektroteknik, System- och reglerteknik, Reglerteknik

Manjurul Islam

Fordonsdynamik

Leo Laine

Fordonsdynamik

Balázs Varga

Chalmers, Elektroteknik, System- och reglerteknik, Reglerteknik

Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering

0954-4070 (ISSN)

Vol. 232 695-706

Ämneskategorier

Maskinteknik

Farkostteknik

Reglerteknik

Styrkeområden

Transport

Fundament

Grundläggande vetenskaper

DOI

10.1177/0954407017704779