The Synthesis of Steering Rules for Stabilizing Road Train Reverse Motion to Solve the Task of Reaching a Set Goal

Abstract

Mathematical models of a road train are developed to study both its direct and reverse motion. The laws for the automatic steering system turning vehicle steering wheels to achieve the required trailer direction when moving reverse are synthesized. A road train with a hitching unit on the tractor truck rear axle directly schematic constructions (an “on-axle hitching” model) are used. The kind of kinematic mathematic model for describing a road train moving reverse at low speeds without wheels side slipping is satisfactory. In this condition its motion is defined by geometry only independent from masses, momentums and friction forces. The steering laws are synthesized with the help of alpha-stabilizing approach, according to Lyapunov’s direct method using fuzzy logics mathematical tool and a solution method depending on the Riccati equation state (SDRE). The task of reaching a set goal has been solved by calculating the folding angle when the target belongs to the calculated path for the case of curvilinear motion and via calculating the matching tractor truck and trailer orientation angles for direct motion. The received results have been rendered as phase portraits in the Maple environment and meshes in Meshlab, simulated in Unity 3D and with a robotic installation getting control information generated automatically

Synthesis of the Laws Governing the Non-Holonomic Model of a Two-Link Road Train With Reverse Motion (Off-Axle Hitching Model)

“…It is possible to note that the direct Lyapunov method has already been successfully applied for the synthesis of a tractor control law with one semitrailer with a hitch in the "on-axle hitching" model [14].…”