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

Hiroki Ohara, Toshiyuki Murakami

研究成果: Paper査読

3 被引用数 (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.

本文言語English
ページ183-186
ページ数4
出版ステータスPublished - 2004 7 12
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
国/地域Japan
CityKawasaki
Period04/3/2504/3/28

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

フィンガープリント

「Tracking control of a compact electrical vehicle trailer based on equivalent dynamics model」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル