Mihályi, Levente and Takács, Dénes (2023) Reversing Along a Curved Path by an Autonomous Truck–Semitrailer Combination. In: 3rd International Nonlinear Dynamics Conference, NODYCON, 2023.06.18-2023.06.22, Roma.
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Abstract
In this paper, the stability analysis of the reverse motion along a circular path is presented for the truck–semitrailer combination. The dynamics of the low-speed manoeuvre are investigated with the single track kinematic model, supplemented with the model of the steering system. The time delay emerging in the control loop is also considered. The actuation is achieved by the steering of the truck, for which a linear feedback controller is designed to ensure the stability of the motion, meanwhile, a geometry-based feedforward steering angle is also used to force the system to the desired path. Linear stability charts are calculated in order to properly tune the control gains of the feedback controller with respect to the curvature of the path.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Uncontrolled Keywords: | autonomous vehicle, truck–semitrailer, reversing, time delay, path-following |
| Subjects: | T Technology / alkalmazott, műszaki tudományok > TJ Mechanical engineering and machinery / gépészmérnöki tudományok |
| SWORD Depositor: | MTMT SWORD |
| Depositing User: | MTMT SWORD |
| Date Deposited: | 30 Oct 2023 09:18 |
| Last Modified: | 30 Oct 2023 09:18 |
| URI: | http://real.mtak.hu/id/eprint/178087 |
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