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http://dx.doi.org/10.5302/J.ICROS.2012.18.7.688

Reduced Order Luenberger State Observer Design for the Jackknifing Phenomenon Prevention of Articulated Vehicles using GPS  

Lee, Byung-Seok (Korea Aerospace Research Institute)
Heo, Moon-Beom (Korea Aerospace Research Institute)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.18, no.7, 2012 , pp. 688-698 More about this Journal
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
GPS (Global Positioning System); FOLSO (Full Order Luenberger State Observer); ROLSO (Reduced Order Luenberger State Observer); equation of planar motion; jackknifing phenomenon; articulated vehicle;
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Times Cited By KSCI : 4  (Citation Analysis)
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