{"title":"The Effects of Trailer Towing on the Dynamics of a Lane-Keeping Controller","authors":"Illés Vörös, D. Takács","doi":"10.1115/DSCC2020-3141","DOIUrl":null,"url":null,"abstract":"\n The main question this paper aims to address is whether a lane-keeping controller can serve as a safety feature in order to increase handling and stability of car-trailer combinations. The derivation of a nonholonomic car-trailer model is provided and its open-loop stability is analyzed. A look-ahead based lane-keeping controller is applied to the system, and a comparison is made between the closed-loop stability of an individual car and a car-trailer setup. The critical speed of the vehicle combination is shown as a function of various trailer parameters, with and without the lane-keeping controller enabled. A modified version of the controller is also tested, utilizing feedback of the trailer states. This ensures that the trailer is also kept at the center of the lane, but no improvement was found in terms of stable trailer configurations.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":null,"pages":null},"PeriodicalIF":1.0000,"publicationDate":"2020-10-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechatronic Systems and Control","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1115/DSCC2020-3141","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
The main question this paper aims to address is whether a lane-keeping controller can serve as a safety feature in order to increase handling and stability of car-trailer combinations. The derivation of a nonholonomic car-trailer model is provided and its open-loop stability is analyzed. A look-ahead based lane-keeping controller is applied to the system, and a comparison is made between the closed-loop stability of an individual car and a car-trailer setup. The critical speed of the vehicle combination is shown as a function of various trailer parameters, with and without the lane-keeping controller enabled. A modified version of the controller is also tested, utilizing feedback of the trailer states. This ensures that the trailer is also kept at the center of the lane, but no improvement was found in terms of stable trailer configurations.
期刊介绍：
This international journal publishes both theoretical and application-oriented papers on various aspects of mechatronic systems, modelling, design, conventional and intelligent control, and intelligent systems. Application areas of mechatronics may include robotics, transportation, energy systems, manufacturing, sensors, actuators, and automation. Techniques of artificial intelligence may include soft computing (fuzzy logic, neural networks, genetic algorithms/evolutionary computing, probabilistic methods, etc.). Techniques may cover frequency and time domains, linear and nonlinear systems, and deterministic and stochastic processes. Hybrid techniques of mechatronics that combine conventional and intelligent methods are also included. First published in 1972, this journal originated with an emphasis on conventional control systems and computer-based applications. Subsequently, with rapid advances in the field and in view of the widespread interest and application of soft computing in control systems, this latter aspect was integrated into the journal. Now the area of mechatronics is included as the main focus. A unique feature of the journal is its pioneering role in bridging the gap between conventional systems and intelligent systems, with an equal emphasis on theory and practical applications, including system modelling, design and instrumentation. It appears four times per year.
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