TY - JOUR
T1 - Nonholonomic equivalent disturbance based backward motion control of tractor-trailer with virtual steering
AU - Matsushita, Kouki
AU - Murakami, Toshiyuki
N1 - Funding Information:
Manuscript received January 16, 2006; revised August 27, 2007. This work was supported in part by Grant-in-Aid for the 21st Century Center of Excellence for “System Design: Paradigm Shift from Intelligence to Life” from the Ministry of Education, Culture, Sports, Science and Technology in Japan.
PY - 2008/1
Y1 - 2008/1
N2 - This paper describes a strategy of backward motion control in a tractor-trailer system. The backward motion of a tractor-trailer requires skilled control, because the position and orientation of the trailer can only be controlled by an input to the tractor. When a driver changes orientation while driving backward, the steering angle must be skillfully controlled. This operation is different in the case of a single vehicle moving backward. An uncontrollable situation of a tractor-trailer motion often happens, for example, the "jackknife phenomenon." Such a situation is often induced by the nonholonomic constraint of a wheeled system. In this research, virtual steering is introduced to a trailer. This virtual steering controls the orientation of the trailer and suppresses the nonholonomic equivalent disturbance. With this virtual steering, the tractor-trailer is able to track a straight trajectory in backward driving independently of the nonholonomic constraint. Several numerical and experimental results are shown to confirm the validity of the proposed approach.
AB - This paper describes a strategy of backward motion control in a tractor-trailer system. The backward motion of a tractor-trailer requires skilled control, because the position and orientation of the trailer can only be controlled by an input to the tractor. When a driver changes orientation while driving backward, the steering angle must be skillfully controlled. This operation is different in the case of a single vehicle moving backward. An uncontrollable situation of a tractor-trailer motion often happens, for example, the "jackknife phenomenon." Such a situation is often induced by the nonholonomic constraint of a wheeled system. In this research, virtual steering is introduced to a trailer. This virtual steering controls the orientation of the trailer and suppresses the nonholonomic equivalent disturbance. With this virtual steering, the tractor-trailer is able to track a straight trajectory in backward driving independently of the nonholonomic constraint. Several numerical and experimental results are shown to confirm the validity of the proposed approach.
KW - Nonholonomic constraint
KW - Tractor-trailer
KW - Workspace observer
UR - http://www.scopus.com/inward/record.url?scp=38349018983&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=38349018983&partnerID=8YFLogxK
U2 - 10.1109/TIE.2007.908522
DO - 10.1109/TIE.2007.908522
M3 - Article
AN - SCOPUS:38349018983
SN - 0278-0046
VL - 55
SP - 280
EP - 287
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
IS - 1
ER -