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Tractor Trailer Control

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

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  1. Tractor Trailer Control Matthew Kelly Cornell University Dynamics, Systems, and Control Q Exam January 15, 2013

  2. Overview • Problem Statement • Modeling & Dynamics • Sensing & Estimation • Control • Results

  3. Model - Overview

  4. Model - Details

  5. Dynamics – Constraint Eqns. • Rear Trailer Wheels (1 Eqn.) • Rear Cab Wheels (1 Eqn.) • Front Cab Wheel Velocity (2 Eqns.)

  6. Dynamics - Solution

  7. Estimation • Measurement : • Sensors: • GPS • Encoder • Extended Kalman Filter: • Estimate orientation • Filter out sensor noise

  8. 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

  9. Simulator Block Diagram

  10. Results

  11. Results – Control Signal

  12. Results – EKF Error

  13. Long Road - Trace

  14. Long Road – Control Signal

  15. Long Road – EKF Error

  16. Too Curvy - Trace

  17. Too Curvy – Control Signal

  18. Too Curvy – EKF Error

  19. Too Curvy – EKF Covariance

  20. Parameters

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