吉林大学学报(工学版) ›› 2011, Vol. 41 ›› Issue (6): 1571-1576.

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H∞ loop shaping robust controller design for tractor-semitrailer

CHANG Sheng1,2,XU Hong-guo1,LIU Hong-fei1   

  1. 1.College of Transportation, Jilin University,Changchun 130022,China|2.College of Mechanical Engineering,Jiamusi University,Jiamusi 154007, China
  • Received:2010-10-18 Online:2011-11-01 Published:2011-11-01

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Abstract:

A model was built for the tractor-semitrailer in the road reference frame to analyze the response of the tractorsemitrailer to the tractor lateral displacement. The robust control theory and algorithm were used to study the disturbance control of the tractor-semitrailer. A H∞ loop-shaping controller was designed by techniques such as the pre- and/or post-weighting of the nominal controlled object and the normalized left coprime faetorization. The designed controller appears to be characterized by a good trade-off between the driving performance and the robust stability, ensuring the driving performance of the tractor-semitrailer under the lateral force disturbance with little lateral track shift.

Key words: engineering of communications and transportation safety, road reference frame, lateral force disturbance, tractor-semitrailer, H∞ loop-shaping, robust control

CLC Number: 

  • U469.5
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