Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Reduced Order Luenberger State Observer Design for the Jackknifing Phenomenon Prevention of Articulated Vehicles using GPS

위성항법시스템을 이용한 연결식 차량의 잭나이핑 현상 예방을 위한 축소차수 상태관측기 설계

  • 이병석 (한국항공우주연구원 위성항법팀) ;
  • 허문범 (한국항공우주연구원 위성항법팀)
  • Received : 2012.04.24
  • Accepted : 2012.06.26
  • Published : 2012.07.01
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Abstract

This paper deals with ROLSO (Reduced Order Luenberger State Observer) design to prevent jackknifing phenomenon of articulated vehicles consisting of the tractor and semi-trailer by using GPS. In addition, by applying the regulator system using ROLSO feedback system, simulation's result presents that articulated vehicle's states are stabilized than the human's PR time (Preception Response time) rapidly. This simulation verifies that the automatic control of articulated vehicle's can be applied for the accident prevention for the time that the driver is unable to manage with the sudden accident. For this simulation, by using the equation of planar motion, the modeling of the articulated vehicle was performed. This modeling was expressed in the state space model. And FOLSO (Full Order Luenberger State Observer), ROLSO were designed by using the state space model of an articulated vehicle's dynamics.

Keywords

Acknowledgement

Grant : 재난예방 및 국민안전제고를 위한 위성기반 위치추적기술 연구

Supported by : 기초기술연구회

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