Trailer steering control of a tractor-trailer Robot

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

Onderzoeksoutput: Bijdrage aan tijdschriftTijdschriftartikelAcademicpeer review

35 Citaten (Scopus)
9 Downloads (Pure)

Samenvatting

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.

Originele taal-2Engels
Artikelnummer7350116
Pagina's (van-tot)1240-1252
Aantal pagina's13
TijdschriftIEEE Transactions on Control Systems Technology
Volume24
Nummer van het tijdschrift4
DOI's
StatusGepubliceerd - 1 jul 2016

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