Trailer Steering Control of a Tractor-Trailer Robot

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

doi:10.1109/TCST.2015.2499699

Trailer Steering Control of a Tractor-Trailer Robot

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

Electrical and Computer Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

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 language	English (US)
Article number	7350116
Pages (from-to)	1240-1252
Number of pages	13
Journal	IEEE Transactions on Control Systems Technology
Volume	24
Issue number	4
DOIs	https://doi.org/10.1109/TCST.2015.2499699
State	Published - Jul 2016

Keywords

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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10.1109/TCST.2015.2499699

Cite this

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title = "Trailer Steering Control of a Tractor-Trailer Robot",

abstract = "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.",

keywords = "Active trailer steering, kinematics, nonlinear control, path following, tracking control, tractor-trailer robot.",

author = "Paul Ritzen and Erik Roebroek and {Van De Wouw}, Nathan and Jiang, {Zhong Ping} and Henk Nijmeijer",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.",

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AU - Ritzen, Paul

AU - Roebroek, Erik

AU - Van De Wouw, Nathan

AU - Jiang, Zhong Ping

AU - Nijmeijer, Henk

PY - 2016/7

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AB - 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.

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KW - nonlinear control

KW - path following

KW - tracking control

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Trailer Steering Control of a Tractor-Trailer Robot

Abstract

Keywords

ASJC Scopus subject areas

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