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Design of a nonlinear trailer steering controller

: Nitzsche, Gunter; Röbenack, Klaus; Wagner, Sebastian; Zipser, Stephan


IEEE Intelligent Transportation Systems Society -ITSS-; Institute of Electrical and Electronics Engineers -IEEE-:
IEEE Intelligent Vehicles Symposium, IV 2014. Vol.2 : June 8 - 11, 2014, Dearborn, Michigan, USA
Piscataway, NJ: IEEE, 2014
ISBN: 978-1-4799-3637-3
ISBN: 978-1-4799-3639-7
Intelligent Vehicles Symposium (IV) <2014, Dearborn/Mich.>
Fraunhofer IVI ()
nonlinear controller; heavy duty vehicles; steering

In this paper the authors present a design approach of a nonlinear controller for steered semi-trailers of heavy commercial vehicles, which is used to improve their maneuverability. The proposed control structure uses the exact input-output linearization. Additionally, a sliding mode control approach (SMC) is used to overcome model uncertainties as well as control errors and increase robustness. The practicability of the control structure is shown with simulation results of a nonlinear three-dimensional multi-body model.