Trailer steering control of a tractor-trailer Robot

P.J. Ritzen, E.J.W. Roebroek, N. Van De Wouw, Z.P. Jiang, H. Nijmeijer

Research output: Contribution to journalArticleAcademicpeer-review

55 Citations (Scopus)
163 Downloads (Pure)


In this paper, we consider active trailer steering control as a means to improve the maneuverability of (long) truck-trailer combinations during cornering. Hereto, we formulate the problem of reducing the so-called swept path width during cornering and that of eliminating unsafe tail swing of the trailer as a tracking control problem. We present a kinematic tractor-trailer model including off-axle hitching, on the basis of which we design nonlinear control strategies solving this tracking problem. The effectiveness of the proposed approach is evidenced experimentally on a robotic tractor-trailer platform.

Original languageEnglish
Article number7350116
Pages (from-to)1240-1252
Number of pages13
JournalIEEE Transactions on Control Systems Technology
Issue number4
Publication statusPublished - 1 Jul 2016


  • Active trailer steering
  • kinematics
  • nonlinear control
  • path following
  • tracking control
  • tractor-trailer robot.


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