Active trailer steering control for high-capacity vehicle combinations

Onderzoeksoutput: Bijdrage aan tijdschriftTijdschriftartikelAcademicpeer review

5 Downloads (Pure)

Uittreksel

In this paper, a new control strategy for the active steering of a trailers of longer and heavier vehicle combinations is proposed to improve both low speed maneuverability and high speed stability. A novelty of the approach is in the use of a single controller structure for all velocities using a gain scheduling method for optimal performance at any velocity. To achieve such a control objective, the problem is initially formulated as a path following problem and subsequently transformed into a tracking problem using a reference model. To support controller design, a generic nonlinear model of a double articulated vehicle, based on a single track model, is employed. The proposed systematic design approach allows to easily adjust the controller for additional trailers or different dimensions, in which only some of the towed vehicles are allowed to steer. The performance of the controller is verified on a high-fidelity multi-body model for evidencing the practical applicability of the approach. Simulation results show substantial reduction of both, the swept path width and tail swing for low speed, and the rearward amplification for high speed.
Originele taal-2Engels
Pagina's (van-tot)251-265
Aantal pagina's15
TijdschriftIEEE Transactions on Intelligent Vehicles
Volume2
Nummer van het tijdschrift4
DOI's
StatusGepubliceerd - 2017

Vingerafdruk

Light trailers
Controllers
Maneuverability
Amplification
Scheduling

Citeer dit

@article{8dd92e52d0e64fb9ab93afe5af39eccc,
title = "Active trailer steering control for high-capacity vehicle combinations",
abstract = "In this paper, a new control strategy for the active steering of a trailers of longer and heavier vehicle combinations is proposed to improve both low speed maneuverability and high speed stability. A novelty of the approach is in the use of a single controller structure for all velocities using a gain scheduling method for optimal performance at any velocity. To achieve such a control objective, the problem is initially formulated as a path following problem and subsequently transformed into a tracking problem using a reference model. To support controller design, a generic nonlinear model of a double articulated vehicle, based on a single track model, is employed. The proposed systematic design approach allows to easily adjust the controller for additional trailers or different dimensions, in which only some of the towed vehicles are allowed to steer. The performance of the controller is verified on a high-fidelity multi-body model for evidencing the practical applicability of the approach. Simulation results show substantial reduction of both, the swept path width and tail swing for low speed, and the rearward amplification for high speed.",
keywords = "Active steering, intelligent vehicles, land transportation, vehicle safety and maneuverability",
author = "K. Kural and P. Hatzidimitris and {van de Wouw}, N. and I.J.M. Besselink and H. Nijmeijer",
year = "2017",
doi = "10.1109/TIV.2017.2767281",
language = "English",
volume = "2",
pages = "251--265",
journal = "IEEE Transactions on Intelligent Vehicles",
issn = "2379-8904",
publisher = "Institute of Electrical and Electronics Engineers",
number = "4",

}

Active trailer steering control for high-capacity vehicle combinations. / Kural, K.; Hatzidimitris, P.; van de Wouw, N.; Besselink, I.J.M.; Nijmeijer, H.

In: IEEE Transactions on Intelligent Vehicles, Vol. 2, Nr. 4, 2017, blz. 251-265.

Onderzoeksoutput: Bijdrage aan tijdschriftTijdschriftartikelAcademicpeer review

TY - JOUR

T1 - Active trailer steering control for high-capacity vehicle combinations

AU - Kural, K.

AU - Hatzidimitris, P.

AU - van de Wouw, N.

AU - Besselink, I.J.M.

AU - Nijmeijer, H.

PY - 2017

Y1 - 2017

N2 - In this paper, a new control strategy for the active steering of a trailers of longer and heavier vehicle combinations is proposed to improve both low speed maneuverability and high speed stability. A novelty of the approach is in the use of a single controller structure for all velocities using a gain scheduling method for optimal performance at any velocity. To achieve such a control objective, the problem is initially formulated as a path following problem and subsequently transformed into a tracking problem using a reference model. To support controller design, a generic nonlinear model of a double articulated vehicle, based on a single track model, is employed. The proposed systematic design approach allows to easily adjust the controller for additional trailers or different dimensions, in which only some of the towed vehicles are allowed to steer. The performance of the controller is verified on a high-fidelity multi-body model for evidencing the practical applicability of the approach. Simulation results show substantial reduction of both, the swept path width and tail swing for low speed, and the rearward amplification for high speed.

AB - In this paper, a new control strategy for the active steering of a trailers of longer and heavier vehicle combinations is proposed to improve both low speed maneuverability and high speed stability. A novelty of the approach is in the use of a single controller structure for all velocities using a gain scheduling method for optimal performance at any velocity. To achieve such a control objective, the problem is initially formulated as a path following problem and subsequently transformed into a tracking problem using a reference model. To support controller design, a generic nonlinear model of a double articulated vehicle, based on a single track model, is employed. The proposed systematic design approach allows to easily adjust the controller for additional trailers or different dimensions, in which only some of the towed vehicles are allowed to steer. The performance of the controller is verified on a high-fidelity multi-body model for evidencing the practical applicability of the approach. Simulation results show substantial reduction of both, the swept path width and tail swing for low speed, and the rearward amplification for high speed.

KW - Active steering

KW - intelligent vehicles

KW - land transportation

KW - vehicle safety and maneuverability

U2 - 10.1109/TIV.2017.2767281

DO - 10.1109/TIV.2017.2767281

M3 - Article

VL - 2

SP - 251

EP - 265

JO - IEEE Transactions on Intelligent Vehicles

JF - IEEE Transactions on Intelligent Vehicles

SN - 2379-8904

IS - 4

ER -