Trailer Steering Control of a Tractor-Trailer Robot

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

Research output: Contribution to journalArticlepeer-review


In this paper, we consider active trailer steering control as a means to improve the maneuverability of (long) truck-trailer combinations during cornering. Hereto, 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 we design nonlinear control strategies solving this tracking problem. The effectiveness of the proposed approach is evidenced experimentally on a robotic tractor-trailer platform.

Original languageEnglish (US)
Article number7350116
Pages (from-to)1240-1252
Number of pages13
JournalIEEE Transactions on Control Systems Technology
Issue number4
StatePublished - Jul 2016


  • Active trailer steering
  • kinematics
  • nonlinear control
  • path following
  • tracking control
  • tractor-trailer robot.

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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