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ROBUST CONTROL OF AN A-DOUBLE WITH ACTIVE DOLLY BASED ON STATIC OUTPUT FEEDBACK AND DYNAMIC FEED-FORWARD

Maliheh Sadeghi Kati (Institutionen för signaler och system, Mekatronik) ; Hakan Köroğlu (Institutionen för signaler och system, Mekatronik) ; Jonas Fredriksson (Institutionen för signaler och system, Mekatronik)
14th International Heavy Vehicle Transport Technology Symposium (2016)
[Konferensbidrag, refereegranskat]

A steering-based control is proposed for improving the lateral performance of an A-double combination with an active dolly. The controller is based on static output feedback combined with dynamic feed-forward and is designed to ensure an H ∞ performance objective in the face of parametric uncertainty. The synthesis is per- formed via linear matrix inequality (LMI) optimizations. Two feed-forward design methods are proposed and one of them is highlighted as the more rigorous approach for dealing with parametric uncertainty. The verification results confirm a significant reduction in rearward amplification of yaw rates and high speed transient off-tracking even when the dynamic feed-forward from the tractor steering angle accompanies the static feedback only from the articulation angles.



Denna post skapades 2016-08-31.
CPL Pubid: 241018

 

Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik

Ämnesområden

Reglerteknik

Chalmers infrastruktur