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.
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页数：5
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