Active trailer steering for robotic tractor-trailer combinations

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

doi:10.1109/CDC.2015.7402853

Active trailer steering for robotic tractor-trailer combinations

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

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	54rd IEEE Conference on Decision and Control,CDC 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4073-4079
Number of pages	7
ISBN (Electronic)	9781479978861
DOIs	https://doi.org/10.1109/CDC.2015.7402853
State	Published - Feb 8 2015
Event	54th IEEE Conference on Decision and Control, CDC 2015 - Osaka, Japan Duration: Dec 15 2015 → Dec 18 2015

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Volume	54rd IEEE Conference on Decision and Control,CDC 2015
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	54th IEEE Conference on Decision and Control, CDC 2015
Country/Territory	Japan
City	Osaka
Period	12/15/15 → 12/18/15

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Access to Document

10.1109/CDC.2015.7402853

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). Article 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

Active trailer steering for robotic tractor-trailer combinations. / Van De Wouw, Nathan; Ritzen, Paul; Roebroek, Erik et al.
54rd IEEE Conference on Decision and Control,CDC 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 4073-4079 7402853 (Proceedings of the IEEE Conference on Decision and Control; Vol. 54rd IEEE Conference on Decision and Control,CDC 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Van De Wouw, N, Ritzen, P, Roebroek, E, Jiang, ZP & Nijmeijer, H 2015, Active trailer steering for robotic tractor-trailer combinations. in 54rd IEEE Conference on Decision and Control,CDC 2015., 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., pp. 4073-4079, 54th IEEE Conference on Decision and Control, CDC 2015, Osaka, Japan, 12/15/15. https://doi.org/10.1109/CDC.2015.7402853

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AB - 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.

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Active trailer steering for robotic tractor-trailer combinations

Abstract

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ASJC Scopus subject areas

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