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Exact input-output linearization for a trailer steering controller

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


Institute of Electrical and Electronics Engineers -IEEE-; IEEE Computer Society:
IEEE 18th International Conference on Intelligent Transportation Systems, ITSC 2015. Proceedings : Smart Mobility for Safety and Sustainability; 15-18 September 2015, Gran Canaria, Spain
Los Alamitos, Calif.: IEEE Computer Society Conference Publishing Services (CPS), 2015
ISBN: 978-1-4673-6595-6 (Print)
ISBN: 978-1-4673-6596-3
International Conference on Intelligent Transportation Systems (ITSC) <18, 2015, Gran Canaria>
Fraunhofer IVI ()

In this paper the authors present how the exact input-output linearization technique can be used for a nonlinear trailer steering controller in order to improve the maneuverability of heavy commercial vehicles with semi-trailers. In order to overcome modeling uncertainties and to increase the robustness, the exact input-output linearization is extended with a sliding mode control approach. This paper focuses on the applicability of the exact input-output linearization. It is analyzed, whether the relative degree is well-defined with respect to the variation of typical vehicle parameters.