Abstract
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.
| Original language | English |
|---|---|
| Pages (from-to) | 280-287 |
| Number of pages | 8 |
| Journal | IEEE Transactions on Industrial Electronics |
| Volume | 55 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - 2008 Jan |
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Keywords
- Nonholonomic constraint
- Tractor-trailer
- Workspace observer
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Instrumentation
Cite this
Nonholonomic equivalent disturbance based backward motion control of tractor-trailer with virtual steering. / Matsushita, Kouki; Murakami, Toshiyuki.
In: IEEE Transactions on Industrial Electronics, Vol. 55, No. 1, 01.2008, p. 280-287.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Nonholonomic equivalent disturbance based backward motion control of tractor-trailer with virtual steering
AU - Matsushita, Kouki
AU - Murakami, Toshiyuki
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
VL - 55
SP - 280
EP - 287
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
SN - 0278-0046
IS - 1
ER -