Trailer steering control of a tractor-trailer Robot

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

doi:10.1109/TCST.2015.2499699

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 journal › Article › Academic › peer-review

67 Citations (Scopus)

369 Downloads (Pure)

Abstract

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 language	English
Article number	7350116
Pages (from-to)	1240-1252
Number of pages	13
Journal	IEEE Transactions on Control Systems Technology
Volume	24
Issue number	4
DOIs	https://doi.org/10.1109/TCST.2015.2499699
Publication status	Published - 1 Jul 2016

Keywords

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

Access to Document

10.1109/TCST.2015.2499699

publisher versionFinal published version, 3.58 MBLicence: TAVERNE

Cite this

@article{8c1e3238ebc348e3ab60330f1b115bb7,

title = "Trailer steering control of a tractor-trailer Robot",

abstract = "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.",

keywords = "Active trailer steering, kinematics, nonlinear control, path following, tracking control, tractor-trailer robot.",

author = "P.J. Ritzen and E.J.W. Roebroek and {Van De Wouw}, N. and Z.P. Jiang and H. Nijmeijer",

year = "2016",

month = jul,

day = "1",

doi = "10.1109/TCST.2015.2499699",

language = "English",

volume = "24",

pages = "1240--1252",

journal = "IEEE Transactions on Control Systems Technology",

issn = "1063-6536",

publisher = "Institute of Electrical and Electronics Engineers",

number = "4",

}

TY - JOUR

T1 - Trailer steering control of a tractor-trailer Robot

AU - Ritzen, P.J.

AU - Roebroek, E.J.W.

AU - Van De Wouw, N.

AU - Jiang, Z.P.

AU - Nijmeijer, H.

PY - 2016/7/1

Y1 - 2016/7/1

N2 - 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.

AB - 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.

KW - Active trailer steering

KW - kinematics

KW - nonlinear control

KW - path following

KW - tracking control

KW - tractor-trailer robot.

UR - http://www.scopus.com/inward/record.url?scp=84949895202&partnerID=8YFLogxK

U2 - 10.1109/TCST.2015.2499699

DO - 10.1109/TCST.2015.2499699

M3 - Article

AN - SCOPUS:84949895202

SN - 1063-6536

VL - 24

SP - 1240

EP - 1252

JO - IEEE Transactions on Control Systems Technology

JF - IEEE Transactions on Control Systems Technology

IS - 4

M1 - 7350116

ER -

Trailer steering control of a tractor-trailer Robot

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this