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Tractor Trailer Control. Matthew Kelly Cornell University Dynamics, Systems, and Control Q Exam January 15, 2013. Overview. Problem Statement Modeling & Dynamics Sensing & Estimation Control Results. Model - Overview. Model - Details. Dynamics – Constraint Eqns.

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tractor trailer control

Tractor Trailer Control

Matthew Kelly

Cornell University

Dynamics, Systems, and Control Q Exam

January 15, 2013

overview
Overview
  • Problem Statement
  • Modeling & Dynamics
  • Sensing & Estimation
  • Control
  • Results
dynamics constraint eqns
Dynamics – Constraint Eqns.
  • Rear Trailer Wheels (1 Eqn.)
  • Rear Cab Wheels (1 Eqn.)
  • Front Cab Wheel Velocity (2 Eqns.)
estimation
Estimation
  • Measurement :
  • Sensors:
    • GPS
    • Encoder
  • Extended Kalman Filter:
    • Estimate orientation
    • Filter out sensor noise
control
Control
  • Actuators:
    • Steering
    • Speed
  • LQR Controller
    • Road = Trajectory in S.S.
    • Linearize system around trajectory
    • Set LQR gains along trajectory
    • Select target point using state estimate