Abstract
위성기반 위치추적기술 연구 과제로 수행되었음 . the lateral velocity at the c.g. of the tractor the lateral velocity at the c.g. of the semitrailer angle that the velocity vector at the front wheel angle that the velocity vector at the rear wheel angle that the velocity vector at the semitrailer's wheel cornering stiffness of tractor's front tire cornering stiffness of tractor's rear tire cornering stiffness of semitrailer's tire lateral force of tractor's front tire lateral force of tractor's rear tire lateral force of semitrailer's rear tire side force on 5th wheel by the Newton's third law Abstract: This paper deals with ROLSO (Reduced Order Luenberger State Observer) design to prevent jackknifing phenomenon of articulated vehicles consisting of the tractor and semi-trailer by using GPS. In addition, by applying the regulator system using ROLSO feedback system, simulation's result presents that articulated vehicle's states are stabilized than the human's PR time (Preception Response time) rapidly. This simulation verifies that the automatic control of articulated vehicle's can be applied for the accident prevention for the time that the driver is unable to manage with the sudden accident. For this simulation, by using the equation of planar motion, the modeling of the articulated vehicle was performed. This modeling was expressed in the state space model. And FOLSO (Full Order Luenberger State Observer), ROLSO were designed by using the state space model of an articulated vehicle's dynamics.
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