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Lateral control of articulated vehicles for automated highway systems under uncertainty in vehicle parameters
|dc.description||Due to the character of the original source materials and the nature of batch digitization, quality control issues may be present in this document. Please report any quality issues you encounter to firstname.lastname@example.org, referencing the URI of the item.||en|
|dc.description||Includes bibliographical references: p. 73-74.||en|
|dc.description||Issued also on microfiche from Lange Micrographics.||en|
|dc.description.abstract||Studied in this thesis is the formulation of lateral control algorithms for articulated vehicles performing a lane following maneuver on Automated Highway Systems (AHS). A steering control algorithm using the input/output linearization scheme is first developed and then the steering controller is augmented with an independent braking controller which provides differential torque for directly controlling the trailer yaw motion by applying unilateral tire braking on the trailer rear wheels. It is shown by simulations, that improved lane following performance is achieved by using the steering and independent braking control strategy. Deterioration in performance of the steering and independent braking controller is observed in the presence of uncertainty in the tire cornering stiffnesses. To ensure the vehicle's performance in the presence of these uncertainties online parameter adaptation is implemented using direct adaptive control strategy.||en|
|dc.publisher||Texas A&M University|
|dc.rights||This thesis was part of a retrospective digitization project authorized by the Texas A&M University Libraries in 2008. Copyright remains vested with the author(s). It is the user's responsibility to secure permission from the copyright holder(s) for re-use of the work beyond the provision of Fair Use.||en|
|dc.subject||Major mechanical engineering.||en|
|dc.title||Lateral control of articulated vehicles for automated highway systems under uncertainty in vehicle parameters||en|
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Digitized Theses and Dissertations (1922–2004)
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