Trajectory control of an articulated vehicle with triple trailers

Presents backing up control for a vehicle with triple trailers. In particular, we consider constraints on input and output and disturbance rejection that are incorporated in the LMI conditions. In application to the truck with triple trailers setup, we utilize these LMI conditions to explicitly avoid the saturation of the steering angle and the jack-knife phenomenon in the control design. The simulation and experimental results demonstrate that the controller effectively achieves the backing up control of the vehicle with triple trailers while avoiding the saturation of the actuator and "jack-knife" phenomenon. Moreover, the feedback controller guarantees the stability and performance even for disturbance.