Abstract
Drivers who lack sufficient experience would be unable to achieve handling stability due to the variation and dynamics of the combined vehicles (CVs). Drivers face hurdles in the stabilization attempt once these vehicles are rendered unstable. In this investigation, the use of the behavior of real vehicles to track the desired properties of the developed combined vehicles can help maintain good handling stability despite the present varying dynamics. This paper provides an appropriate design method for CVs to gain suitable handling property for such vehicles. The developed adaptive steering controller (ASC) allows the tracking of the desired vehicle by the real vehicle, despite the variation of parameter and lack of information of the real vehicle. Simulation results are obtained to validate that the handling stability was improved by using one design parameter, which minimizes frequency oscillation caused in the wheel steering angles. The introduction of a driver model that can simulate the real vehicle demonstrated that the adoption of the ASC is useful in the driver-tractor-semitrailer system.
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This study was supported by Shanghai Minhang District Science and Technology Commission Research Framework grant No.2019MHC094.
Jing-Hong Li received her M.Eng. degree in vehicle engineering from Northeastern University, Shenyang, China, in 2006 and received her B.Eng. degree in traffic engineering from Jiamusi University, Jiamusi, China, in 2003. She is currently pursuing a Ph.D. degree at Zhejiang Sci-Tech University, Hangzhou, China. Her research interests include vehicle dynamics, optimization, observation and nonlinear control of energy in electric vehicles, and control of mechanical systems.
Qiang Wang received his Ph.D. and M.Eng. degrees in mechanical intelligence from Kyushu Institute of Technology, Japan, in 2009 and 2006, respectively. He received a B.Eng. degree in Mechanical Department from Nishinippon Institute of Technology, Kitakyushu, Japan in 2004. He focuses on research concerning automobiles and mobile robots. He has co-authored several papers in adaptive control field.
Gao-Hong Yu received his Ph.D., M.Eng. and B.Eng. degrees in agricultural mechanization engineering from Zhejiang University, Hangzhou, China, in 2006, 2000, and 1997, respectively. Since 2006, he has been successively Assistant Professor and Professor at Zhejiang Sci-Tech University, Hangzhou, China. His current research interests include agricultural mechanical dynamics and control, mobile robots and mechanism.
Chuan-Yu Wu received his Ph.D. and M. Eng. degrees in mechanical design and automation from Zhejiang University, Hangzhou, China, in 2002 and 1999. He received a B.Eng. degree in mechanical design from Shandong Sci-Tech University in 1996. Since 2004, he has been successively an Assistant Professor and a Professor at Zhejiang Sci-Tech University, Hangzhou, China. His current research interests include intelligent machine and mobile robots.
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Li, JH., Wang, Q., Yu, GH. et al. The Enhancement of Handling Stability for Driver-combined-vehicle Systems through Adaptive Steering Controller. Int. J. Control Autom. Syst. 19, 459–470 (2021). https://doi.org/10.1007/s12555-019-0481-y
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DOI: https://doi.org/10.1007/s12555-019-0481-y