Robust trajectory tracking for a reversing tractor trailer

Abstract

Tractor-trailer reversing is a classical nonlinear control problem in which many of the solutions proposed in the literature perform poorly in the presence of real-world constraints such as steering angle, rate limits, and lags. In this paper we describe a new method in which an inner loop controls the hitch angle of the trailer, creating a virtual articulated vehicle to which existing control techniques can be applied. We provide an analysis of the stability and convergence properties of this control approach, as well as experimental results that illustrate the robustness of this approach to model estimation errors, low-level control loop dynamics, and other disturbances introduced by, for example, state estimation errors. C 2008 Wiley Periodicals, Inc.

Application of the VFO method to set-point control for theN-trailer vehicle with off-axle hitching

“…Applications and practical considerations on the control problem for vehicles with trailers have been presented in Park et al (2005), Yoo and Chung (2010), Martinez et al (2008), Pradalier and Usher (2008), Altafini et al (2001), Bushnell, Mirtich, Sahai, and Secor (1994), Bullo and Murray (1996), DeSantis, Hurteau, Alboui, and Lesot (2002), M'Closkey and Murray (1994) and Park et al (2004) and also in Balcerak, Schikora, Wojke, and Zo¨bel (2004) and Zo¨bel (2003).…”

A simple tractor-trailer backing control law for path following with side-slope compensation

“…commands based upon a curvature-wheel map are then used to improve responsiveness and tracking error in the system. Similar to [1], we show that the two tier controller offers advantages compared to traditional approaches. Some researchers transform the kinematic models into different forms [3][4], such as chained form, where it is easier to formulate the controller.…”

“…(The reader is referred to [1] for a more detailed review of recent and traditional techniques.) While a wealth of traditional techniques based upon nonlinear control theory exists, these often provide complicated and impractical solutions that are difficult to implement on real systems with delay and error.…”

Simulation study of the backward-motion for a aircraft towbarless tractor

“…Backward operation has considerable flexibility in cases like navigation in narrow space and on the edge of repair shop or the parking problem [5]. The one-trailer problem has been treated in literature for a long time [6], including the case of reverse movement [7].…”