A New Control Scheme Applied to the Trailer-Truck Backing-Up Problem

Abstract

The trailer-truck backing-up problem has long been accepted as a benchmark to test control algorithms. Its unique blend of nonlinear dynamics coupled with physical limiting conditions makes it a challenging problem. A recent control scheme used on this system took advantage of some path planning techniques. However, this scheme required re-calculation of the control, when the initial conditions changed. The control scheme introduced here will use the data generated by the path planning approach to train a neural network that will be able to create the path data from any initial condition. Since then the path information can be updated in real-time as the trailer-truck traveled, the controller is reduced to tracking the path supplied by the neural network.

Meeting Name

Artificial Neural Networks in Engineering Conference (1996: Nov. 10-13, St. Louis, MO)

Department(s)

Electrical and Computer Engineering

Keywords and Phrases

Control; Dynamics; Initial value problems; Motion planning; Neural networks; Nonlinear systems; Nonlinear dynamics; Truck trailers

International Standard Book Number (ISBN)

978-0791800515

Document Type

Article - Conference proceedings

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 1996 American Society of Mechanical Engineers (ASME), All rights reserved.

Publication Date

01 Nov 1996

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