前馈
有效载荷(计算)
轴
控制理论(社会学)
弹道
非线性系统
计算机科学
车辆动力学
控制工程
控制(管理)
路径(计算)
非线性控制
工程类
汽车工程
人工智能
机械工程
计算机网络
物理
量子力学
天文
网络数据包
程序设计语言
作者
Sebastian Wagner,Stephan Zipser,Ralf Bartholomaeus,Bernard Baeker
标识
DOI:10.1115/detc2009-86384
摘要
This paper presents a novel two DOF control for train-like guidance of general multiple articulated vehicles with all wheel steering. The model based control scheme consists of a feed-forward and a feedback part designed separately. Within the nonlinear feedforward part the steering angles are calculated that theoretically cause every single axle to follow a desired path exactly. Thus in the nonlinear feedback part only model uncertainties and disturbances have to be compensated. Simulations as well as road tests show that the designed control system allows train-like vehicle guidance while it is robust against varying road conditions, payload as well as velocity.
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