Nonholonomic Equivalent Disturbance Based Backward Motion Control of Tractor-Trailer With Virtual Steering
Matsushita, K.
Murakami, T.
Keio Univ., Yokohama;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Jan. 2008
Volume: 55,
Issue: 1
On page(s): 280-287
ISSN: 0278-0046
INSPEC Accession Number: 9756552
Digital Object Identifier: 10.1109/TIE.2007.908522
Current Version Published: 2008-01-04
Abstract
This paper describes a strategy of backward motion control in a tractor-trailer system. The backward motion of a tractor-trailer requires skilled control, because the position and orientation of the trailer can only be controlled by an input to the tractor. When a driver changes orientation while driving backward, the steering angle must be skillfully controlled. This operation is different in the case of a single vehicle moving backward. An uncontrollable situation of a tractor-trailer motion often happens, for example, the "jackknife phenomenon." Such a situation is often induced by the nonholonomic constraint of a wheeled system. In this research, virtual steering is introduced to a trailer. This virtual steering controls the orientation of the trailer and suppresses the nonholonomic equivalent disturbance. With this virtual steering, the tractor-trailer is able to track a straight trajectory in backward driving independently of the nonholonomic constraint. Several numerical and experimental results are shown to confirm the validity of the proposed approach.
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