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H ∞ Loop Shaping Robust Control for Body Roll of Tractor-semitrailer on Ice-Snow Road
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Abstract
In view of the problems that the poor driving stability and the increase body rolling even instability of the tractor-semitrailer in turns with a middle-speed on the ice-snow road, a robust stably controller that uses a combination method of H
∞ and loop shaping is designed. The tractor-semitrailer dynamics model with the body roll degree of freedom is been established, and the influence of different ice-snow road adhesion coefficients on the dynamic characteristics of body rolling angle is analyzed. Finally, the simulation verification carries out that the controller which is used H
∞ loop shaping can make the body roll of tractor-semitrailer stable, and the controller has a good robust stability.
Title: H
∞ Loop Shaping Robust Control for Body Roll of Tractor-semitrailer on Ice-Snow Road
Description:
Abstract
In view of the problems that the poor driving stability and the increase body rolling even instability of the tractor-semitrailer in turns with a middle-speed on the ice-snow road, a robust stably controller that uses a combination method of H
∞ and loop shaping is designed.
The tractor-semitrailer dynamics model with the body roll degree of freedom is been established, and the influence of different ice-snow road adhesion coefficients on the dynamic characteristics of body rolling angle is analyzed.
Finally, the simulation verification carries out that the controller which is used H
∞ loop shaping can make the body roll of tractor-semitrailer stable, and the controller has a good robust stability.
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