Tracking control of a compact electrical vehicle trailer based on equivalent dynamics model

Hiroki Ohara, Toshiyuki Murakami

研究成果: Conference contribution

2 引用 (Scopus)

抄録

Recently trajectory control of a compact tractor-trailer using electrical vehicle is studied in industrial environment. There is three reasons. First, improvement of working efficiency is desired. Second, because an electrical vehicle can be controlled easily, utilization of electrical vehicle can be applied to a wide range of tasks. Third, the load transportation capacity is increased by using a compact tractor-trailer. However the conventional trajectory control of a tractor-trailer was based on kinematic model only. So it was applicable only in the environment where the cornering force and the friction don't exist. And it was difficult to adapt the tractor-trailer against the environment changes. In this paper, it composes a controller based on the environmental information. Specifically, it estimates a cornering force and friction and it changes speed and a steering angle based on it. Therefor, it can avoid the jackknife phenomenon which the tractor-truck is peculiar to. It uses PD controller for the controller. Finally, Numerical simulation results is shown.

元の言語English
ホスト出版物のタイトルInternational Workshop on Advanced Motion Control, AMC
ページ183-186
ページ数4
出版物ステータスPublished - 2004
イベントProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan
継続期間: 2004 3 252004 3 28

Other

OtherProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04
Japan
Kawasaki
期間04/3/2504/3/28

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Light trailers
Dynamic models
Controllers
Tractors (truck)
Trajectories
Friction
Trucks
Kinematics
Computer simulation

ASJC Scopus subject areas

  • Engineering(all)

これを引用

Ohara, H., & Murakami, T. (2004). Tracking control of a compact electrical vehicle trailer based on equivalent dynamics model. : International Workshop on Advanced Motion Control, AMC (pp. 183-186)

Tracking control of a compact electrical vehicle trailer based on equivalent dynamics model. / Ohara, Hiroki; Murakami, Toshiyuki.

International Workshop on Advanced Motion Control, AMC. 2004. p. 183-186.

研究成果: Conference contribution

Ohara, H & Murakami, T 2004, Tracking control of a compact electrical vehicle trailer based on equivalent dynamics model. : International Workshop on Advanced Motion Control, AMC. pp. 183-186, Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04, Kawasaki, Japan, 04/3/25.
Ohara H, Murakami T. Tracking control of a compact electrical vehicle trailer based on equivalent dynamics model. : International Workshop on Advanced Motion Control, AMC. 2004. p. 183-186
Ohara, Hiroki ; Murakami, Toshiyuki. / Tracking control of a compact electrical vehicle trailer based on equivalent dynamics model. International Workshop on Advanced Motion Control, AMC. 2004. pp. 183-186
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