用于向后驾驶卡车和拖车的杆位。说教的观点

Carlos Muñoz, M. Castilla, M. Fernández-Fernández
{"title":"用于向后驾驶卡车和拖车的杆位。说教的观点","authors":"Carlos Muñoz, M. Castilla, M. Fernández-Fernández","doi":"10.1109/CHILECON47746.2019.8987983","DOIUrl":null,"url":null,"abstract":"Driving a Truck and Trailer in backward is a challenging problem to address the control teaching of non-linear unstable systems. The paper shows techniques to formulate de feedback control problem, to find the equilibrium state, to linearize the system and to design the state feedback controllers with Luenberger observers tuned with pole placement techniques. Results show that the state feedback controller can stabilize the truck and trailer, moreover, the controlled system has good behaviour in following sinusoidal trajectories when driving in backward.","PeriodicalId":223855,"journal":{"name":"2019 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies (CHILECON)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Pole Placement applied to drive a Truck and Trailer in backward. A didactic view\",\"authors\":\"Carlos Muñoz, M. Castilla, M. Fernández-Fernández\",\"doi\":\"10.1109/CHILECON47746.2019.8987983\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Driving a Truck and Trailer in backward is a challenging problem to address the control teaching of non-linear unstable systems. The paper shows techniques to formulate de feedback control problem, to find the equilibrium state, to linearize the system and to design the state feedback controllers with Luenberger observers tuned with pole placement techniques. Results show that the state feedback controller can stabilize the truck and trailer, moreover, the controlled system has good behaviour in following sinusoidal trajectories when driving in backward.\",\"PeriodicalId\":223855,\"journal\":{\"name\":\"2019 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies (CHILECON)\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-11-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies (CHILECON)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CHILECON47746.2019.8987983\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies (CHILECON)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CHILECON47746.2019.8987983","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0

摘要

卡车和拖车的倒驶是解决非线性不稳定系统控制教学的一个具有挑战性的问题。本文介绍了解反馈控制问题的建立、平衡状态的求解、系统的线性化和状态反馈控制器的设计等技术,并采用极点布置技术对Luenberger观测器进行了调谐。结果表明,所设计的状态反馈控制器能使卡车和挂车稳定,并且在倒车时具有良好的跟踪正弦轨迹性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Pole Placement applied to drive a Truck and Trailer in backward. A didactic view
Driving a Truck and Trailer in backward is a challenging problem to address the control teaching of non-linear unstable systems. The paper shows techniques to formulate de feedback control problem, to find the equilibrium state, to linearize the system and to design the state feedback controllers with Luenberger observers tuned with pole placement techniques. Results show that the state feedback controller can stabilize the truck and trailer, moreover, the controlled system has good behaviour in following sinusoidal trajectories when driving in backward.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信