Active trailer steering for robotic tractor-trailer combinations

Nathan Van De Wouw, Paul Ritzen, Erik Roebroek, Zhong Ping Jiang, Henk Nijmeijer

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

Abstract

Active trailer steering control can improve the manoeuvrability of (long) truck-trailer combinations during cornering. To assess the effectiveness of trailer steering control, we formulate the problem of reducing the so-called swept-path width during cornering, and that of eliminating unsafe tail swing of the trailer, as a tracking control problem. We present a kinematic tractor-trailer model including off-axle hitching, on the basis of which nonlinear control strategies solving this tracking problem are developed. The effectiveness of the proposed approach is evidenced by means of a benchmark simulation study.

Original languageEnglish (US)
Title of host publication54rd IEEE Conference on Decision and Control,CDC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4073-4079
Number of pages7
ISBN (Electronic)9781479978861
DOIs
StatePublished - Feb 8 2015
Event54th IEEE Conference on Decision and Control, CDC 2015 - Osaka, Japan
Duration: Dec 15 2015Dec 18 2015

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume54rd IEEE Conference on Decision and Control,CDC 2015
ISSN (Print)0743-1546

Other

Other54th IEEE Conference on Decision and Control, CDC 2015
CountryJapan
CityOsaka
Period12/15/1512/18/15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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  • Cite this

    Van De Wouw, N., Ritzen, P., Roebroek, E., Jiang, Z. P., & Nijmeijer, H. (2015). Active trailer steering for robotic tractor-trailer combinations. In 54rd IEEE Conference on Decision and Control,CDC 2015 (pp. 4073-4079). [7402853] (Proceedings of the IEEE Conference on Decision and Control; Vol. 54rd IEEE Conference on Decision and Control,CDC 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2015.7402853