Robust Dynamic State Estimation for Lateral Control of an Industrial Tractor Towing Multiple Passive Trailers
Shunbo Zhou,Hongchao Zhao,Wen Chen,Zhe Liu,Hesheng Wang,Yun-Hui Liu,Shunbo Zhou,Hongchao Zhao,Wen Chen,Zhe Liu,Hesheng Wang,Yun-Hui Liu
In this paper, we propose a dynamic state estimation framework for lateral control of a heavy tractor-trailers system using only mass-produced low-cost sensors. This issue is challenging since the lateral velocity of the lead tractor is difficult to measure directly. The performance of existing dynamic model-based estimation methods will also be degraded, as different trailers and payloads cause t...
