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ROBUST CONTROL OF A...
ROBUST CONTROL OF AN A-DOUBLE WITH ACTIVE DOLLY BASED ON STATIC OUTPUT FEEDBACK AND DYNAMIC FEED-FORWARD
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- Sadeghi Kati, Maliheh, 1979 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Köroglu, Hakan, 1971 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Fredriksson, Jonas, 1972 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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(creator_code:org_t)
- 2016
- 2016
- Engelska.
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Ingår i: 14th International Heavy Vehicle Transport Technology Symposium.
- Relaterad länk:
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https://research.cha...
Abstract
Ämnesord
Stäng
- A steering-based control is proposed for improving the lateral performance of anA-double combination with an active dolly. The controller is based on static outputfeedback 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 designmethods are proposed and one of them is highlighted as the more rigorous approachfor dealing with parametric uncertainty. The verification results confirm a significantreduction in rearward amplification of yaw rates and high speed transient off-trackingeven when the dynamic feed-forward from the tractor steering angle accompaniesthe static feedback only from the articulation angles.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
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