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

Kouki Matsushita, Toshiyuki Murakami

研究成果: Article査読

43 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)280-287
ページ数8
ジャーナルIEEE Transactions on Industrial Electronics
55
1
DOI
出版ステータスPublished - 2008 1

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

フィンガープリント

「Nonholonomic equivalent disturbance based backward motion control of tractor-trailer with virtual steering」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル