Performance Evaluation of a Biomorphic Control Approach for Tractor-Semitrailers Conference Paper uri icon


  • © 2005 IEEE. This paper presents a novel biomorphic control algorithm based on the brain limbic system to a dynamical model of a tractor-semitrailer. The performance of this algorithm is compared with that of a sliding mode controller designed for the same model. The simulations are considered for three driving situations of braking, cornering and acceleration, in which the capabilities of the vehicle in tracking the desired velocity and yaw-rate are evaluated. Each of the control algorithms considered offers unique advantages in different situations, and in view of different criteria: tracking performance, transient behavior and control cost. Specifically, the biomorphic controller produces smoother behaviors, faster responses and smaller control torques.

author list (cited authors)

  • Shahmirzadi, D., Langari, R., Ricalde, L. J., & Sanchez, E. N.

citation count

  • 0

publication date

  • January 2005