Anti-Jackknife Control for Forward Motion Path Following of a Truck Trailer

This paper presents a design method for an anti-jackknife control law that ensures forward motion path following of autonomous truck trailers. The proposed design approach uses the integrator backstepping technique and barrier Lyapunov function. The main objective of the control law is to prevent the occurrence of jackknifing, a severe issue in autonomous truck trailer systems that can lead to accidents and damage to both the trailer and head-truck. Simulation results demonstrate the effectiveness of the proposed control law in preventing jackknifing and ensuring stability of the autonomous truck trailer system during forward motion path following. Therefore, the proposed method can serve as a valuable tool in enhancing the safety and reliability of autonomous truck trailers.