Backward motion control for articulated vehicles with double trailers considering driver's input

Kouki Matsushita, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

This paper describes the motion control for an articulated vehicle with double trailers. The backward motion of an articulated vehicle requires the experienced skill, because positions and angles of trailers must be controlled by only an input to a tractor. When a driver changes angles of trailers in backward driving, the steering angle of the tractor must be controlled skillfully. This operation is different in case of the backward motion of a single vehicle. If a driver's control skill is poor, maneuvering of an articulated vehicle is very dangerous. In this research, the control method for an articulated vehicle which has two trailers is proposed. By using this method, drivers are able to maneuver the articulated vehicle easily as like maneuvering a single vehicle. This method is based on Lyapunov function and backstepping. Several numerical results are shown to confirm the validity of the proposed method.

Original languageEnglish
Title of host publicationIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Pages3052-3057
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
EventIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, France
Duration: 2006 Nov 62006 Nov 10

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

OtherIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
CountryFrance
CityParis
Period06/11/606/11/10

Keywords

  • Articulated vehicle
  • Nonholonomic constraint
  • Workspace observer

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Matsushita, K., & Murakami, T. (2006). Backward motion control for articulated vehicles with double trailers considering driver's input. In IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics (pp. 3052-3057). [4153003] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2006.347530