Nonholonomic equivalent disturbance based backward motion control of tractor-trailer with virtual steering

Kouki Matsushita, Toshiyuki Murakami

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

4 Citations (Scopus)

Abstract

This paper describes a strategy of backward motion control in a tractor-trailer system. The backward motion of a tractor-trailer requires the control skill, because a position and an orientation of a trailer must be controlled by only an input to a tractor. When a driver changes orientation in backward driving, the steering angle must be controlled skillfully. This operation is different in case of the backward motion of a single vehicle. Then the uncontrollable situation of a tractor-trailer motion often happens, for example "jackknife phenomenon." Such a situation is often induced by nonholonomic constraint of wheeled system. In this research, the virtual steering is introduced to a trailer. This virtual steering controls orientation of a trailer, and suppresses nonholonimic equivalent disturbance. So with this virtual steering, a tractor-trailer is able to track straight trajectory in backward driving independently of nonholonomic constraint. Several numerical and experimental results are shown to confirm the validity of the proposed approach.

Original languageEnglish
Title of host publicationIECON 2005
Subtitle of host publication31st Annual Conference of IEEE Industrial Electronics Society
Pages2071-2076
Number of pages6
DOIs
Publication statusPublished - 2005 Dec 1
EventIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States
Duration: 2005 Nov 62005 Nov 10

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume2005

Other

OtherIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
CountryUnited States
CityRaleigh, NC
Period05/11/605/11/10

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Matsushita, K., & Murakami, T. (2005). Nonholonomic equivalent disturbance based backward motion control of tractor-trailer with virtual steering. In IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society (pp. 2071-2076). [1569223] (IECON Proceedings (Industrial Electronics Conference); Vol. 2005). https://doi.org/10.1109/IECON.2005.1569223