Authors: Shenjin Zhu; Yuping He; Jing Ren
Addresses: Department of Automotive, Mechanical and Manufacturing Engineering, University of Ontario Institute of Technology, Oshawa, Ontario, L1H 7K4, Canada ' Department of Automotive, Mechanical and Manufacturing Engineering, University of Ontario Institute of Technology, Oshawa, Ontario, L1H 7K4, Canada ' Department of Electrical, Computer and Software Engineering, University of Ontario Institute of Technology, Oshawa, Ontario, L1H 7K4, Canada
Abstract: This paper examines the robustness of different controllers for active steering systems (ASSs) of articulated heavy vehicles (AHVs) in terms of the directional performance. Controllers based on the linear quadratic regulator (LQR) technique were designed for ASSs. The success of the LQR-based controllers is dependent on the accuracy of linear models for AHVs. When designing ASS controllers, linearisation of the AHV models is usually necessary; this results in model inaccuracy and un-modelled dynamics, and the robustness of the LQR-based controllers may be degraded. ASSs for AHVs are assessed in the time-domain, which may lead to an incomplete performance evaluation. This paper assesses the robustness of the ASS controllers designed with the techniques of sliding mode control (SMC), nonlinear sliding mode control (NSMC), and mu-synthesis (MS). The ASS controllers are evaluated using numerical simulation in terms of the trade-off between the manoeuvrability and the lateral stability at high speeds.
Keywords: AHVs: articulated heavy vehicles; ASSs: active steering systems; SMC: sliding mode control; NSMC: nonlinear sliding mode control; MS: mu-synthesis; GA: genetic algorithm; robustness index.
International Journal of Heavy Vehicle Systems, 2019 Vol.26 No.1, pp.1 - 30
Received: 23 May 2016
Accepted: 29 Oct 2016
Published online: 20 Dec 2018 *