Longitudinal control of heavy vehicles with air brake actuation delays

Yanakiev, Diana; Eyre, Jennifer; Kanellakopoulos, I.

doi:10.1109/acc.1997.610856

Cited by 10 publications

(1 citation statement)

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“…Many control strategies have been designed to prevent the rollover, most of them based on active speed control and active roll control; in [5] active control is achieved via sliding mode control, and in [13], an adaptive backstepping controller is applied for longitudinal control with delay in the air braking system. However, active roll control is ineffective for sharp turns, since it does not reduce the lateral acceleration, and requires hydraulics actuators which increase the cost considerably.…”

Section: Introductionmentioning

confidence: 99%

Rollover prediction and control in heavy vehicles via recurrent neural networks

Sánchez

Ricalde

Langari

et al. 2004

2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)

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A state predictor is developed in order to estimate roll angle and lateral acceleration for tractor-semitrailers. Based on this prediction, an active control system is designed to prevent rollover. In order to develop this control structure, a high order recurrent neural network is used to model the unknown tractor semitrailer system; a learning law is obtained using the Lyapunov methodology. Then a control law, which stabilizes the reference tracking error dynamics, is developed using Control Lyapunov Functions. Via simulations, the control scheme is applied for speed-yaw rate trajectory tracking in a tractor-semitrailer during a cornering situation.

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Section: Introductionmentioning

confidence: 99%