1994 Volume 56 Issue 1 Pages 65-70
The overall objective of this study is to develop an automatic steering system of an articulated vehicle. In part 1, the feasibility of application of modern control theory to this steering control system was studied, based on a steering control model developed specifically for an articulated vehicle. In this study, estimation algorithms applicable to the determination of model parameters from experimentally obtained training data were examined. The study showed that the estimation algorithm with the parallel estimator, including the adjustable compensating element, was effective for this problem. It was confirmed that the experiments gave satisfactory data for the continuous oscillatory conditions.
