Abstract
The problem of reference trajectory generation for single unit heavy vehicle motion is investigated. The Reference Governor is integrated in the control structure with control allocation. This nonlinear block filters the driver steering inputs in order to modify the reference trajectories in such a manner that if followed by the vehicle the wheels keep contact with the road. The simulation results for a vehicle represented by an 8 DOF nonlinear model and controlled by front active steering and braking systems are performed for fishhook manoeuvre. They demonstrate the effectiveness of the proposed scheme.
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