Authors: Qiang Wang; Masahiro Oya; Shingo Tamaru; Natsuki Takagi
Addresses: Department of Systems Design and Informatics, Kyushu Institute of Technology, 680-4 Kawazu, Iizuka-shi, Fukuoka, 820-8502, Japan. ' Department of Mechanical and Control Engineering, Kyushu Institute of Technology, 1-1 Sensui-cho, Tobata-ku, Kitakyushu-shi, Fukuoka, 804-8550, Japan. ' Department of Mechanical and Control Engineering, Kyushu Institute of Technology, 1-1 Sensui-cho, Tobata-ku, Kitakyushu-shi, Fukuoka, 804-8550, Japan. ' Department of Mechanical Control Engineering, Miyakonojyo National College of Technology, 473-1 Yoshio, Miyakonojyo, Miyasaki, Japan
Abstract: The behaviour of combined vehicles is easily affected by the uncertainties of vehicle parameters. It may be very difficult for the drivers to achieve good handling stability. If the behaviour of actual combined vehicles tracks the designed ideal vehicle models, the good handling property can be maintained for the large uncertain variation of vehicle parameters. Then, the authors have proposed the adaptive steering controllers to achieve good handling property. However, in the conventional schemes, just only one ideal vehicle model is designed for various drivers. For each driver, if an adequate ideal vehicle model is selected, the better handling stability can be achieved. In this paper, a new design method to design ideal vehicle models of adaptive steering driver-combined-vehicle systems for various drivers is proposed. Carrying out numerical simulations, it is shown that good handling performance can be achieved when the actual vehicles track the designed ideal vehicle models.
Keywords: ideal vehicle models; driver modelling; tracking control; adaptive control; combined vehicles; adaptive steering; parameter uncertainty; handling stability; numerical simulation; handling performance.
International Journal of Advanced Mechatronic Systems, 2011 Vol.3 No.3, pp.208 - 219
Received: 08 May 2021
Accepted: 12 May 2021
Published online: 19 Sep 2011 *