H∞ Loop Shaping Robust Control For Tractor-semitrailer

被引：0

作者：

Chang, Sheng ^{[1
]}

Chen, Ling-ling ^{[1
]}

Wu, Jin-feng ^{[2
]}

Zou, Nai-wei ^{[1
]}

机构：

[1] Jiamusi Univ, Harbin, Heilongjiang, Peoples R China

[2] Changan Univ, Changan, Shanxi, Peoples R China

来源：

2015 2ND INTERNATIONAL CONFERENCE ON MECHATRONICS AND MECHANICAL ENGINEERING (ICMME 2015) | 2015年 / 34卷

关键词：

D O I：

10.1051/matecconf/20153405005

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

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 infinity 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.

引用

页数：5

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