Adaptive trailer backup control

We consider the problem of building a Trailer Backup Assist System that would function in conditions of a priori uncertainty about the parameters of the system itself and the external disturbances. External uncontrolled disturbances can arise from non-horizontal surfaces, the existence of significant road irregularities, variable density of soil, etc. Mathematical model of controlled trailer is justified; from this, adaptive control law is generated for movement according to the steering wheels deflection, to achieve a predetermined hitch angle. The a priori uncertainty is eliminated by means of the current parametric identification of the controlled object mathematical model, while current estimates are used directly for control law synthesis. For the formalization of system requirements, an implicit reference model is used. Justification of adaptive control system operation is built on the simplified adaptability conditions. A model example is given.