Abstract:
This report presents a linear analysis of a tractor semitrailer model. The analysis is followed by the design of a simple linear controller for lane following. Offtracking analysis is presented for a single unit vehicle and tractor semitrailer. This analysis is independent of the control design. Modeling of multi-unit articulated vehicles is also presented. Both a complex simulation model and a simplified control design model are derived for a general road train.
Publication date:
February 1, 1998
Publication type:
Research Report
Citation:
Tai, M., Wang, J. -y, Hingwe, P., Chen, C., & Tomizuka, M. (1998). Lateral Control Of Heavy Duty Vehicles For Automated Highway Systems (No. UCB-ITS-PRR-98-8). https://escholarship.org/uc/item/3sb3z2mh