Issue |
MATEC Web of Conferences
Volume 34, 2015
2015 2nd International Conference on Mechatronics and Mechanical Engineering (ICMME 2015)
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Article Number | 05005 | |
Number of page(s) | 5 | |
Section | Vehicle engineering | |
DOI | https://doi.org/10.1051/matecconf/20153405005 | |
Published online | 11 December 2015 |
H∞ Loop Shaping Robust Control For Tractor-semitrailer
1 Jiamusi University in Heilongjiang, China
2 Chang’an University in Shanxi, China
a Corresponding author: changsheng_jms@163.com
The tractor-semitrailer model is general described and analyzed in road reference coordinate system. The lateral error of look-ahead distance has been chosen as nominal plant and a robust controller using H∞ loop-shaping procedure is designed which can ensure the maximum stability margin meet the performance requirements. The results show that the controller can make the tractor-semitrailer stable under perturbed conditions and can guarantee the look-ahead lateral offset keeping in the specified scope proposed. The target of lateral control is satisfactory.
© Owned by the authors, published by EDP Sciences, 2015
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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