Anaysis and controller design based on linear model for heavy-duty vehicles

摘要

In this paper, we present the time domain, frequency domain and pole/zero analyses of a linearized model of leavy-duty vehicles (tractor-semitrailer type) for lateral control. These anaysese are donducted to examine the steering response subject to variations of speed, road adhesion coefficient and look-ahead distance for the lateral position sensor. Based on these analyses, a linear controller for lane follwing is designed. The close-loop simulation is conducted to show the effectiveness of the linear controler.