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

Kouki Matsushita, Toshiyuki Murakami

研究成果: Conference contribution

4 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 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.

本文言語English
ホスト出版物のタイトルIECON 2005
ホスト出版物のサブタイトル31st Annual Conference of IEEE Industrial Electronics Society
ページ2071-2076
ページ数6
DOI
出版ステータスPublished - 2005 12 1
イベントIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States
継続期間: 2005 11 62005 11 10

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)
2005

Other

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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