A trailer steering model tracking compensation control

The dynamic model and its dynamic equations for the full trailer are established according to principles of Rigid-body Dynamics in this article. Based on the dynamics model of fully articulated vehicle, the trailer controller is designed as a reference model for the optimal control system of the model following variable structure control system. The control system adopts the pole assignment method to determine the parameters for the switching surface, through the integral compensation control, to ensure the stability of the system and eliminate the effects of vehicle parameters. Finally, using Simulink to build its model, emulation results indicate that this control system has good stability.