Active trailer steering for robotic tractor-trailer combinations

Nathan Van De Wouw, Paul Ritzen, Erik Roebroek, Zhong-Ping Jiang, Henk Nijmeijer

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Active trailer steering control can improve the manoeuvrability of (long) truck-trailer combinations during cornering. To assess the effectiveness of trailer steering control, we formulate the problem of reducing the so-called swept-path width during cornering, and that of eliminating unsafe tail swing of the trailer, as a tracking control problem. We present a kinematic tractor-trailer model including off-axle hitching, on the basis of which nonlinear control strategies solving this tracking problem are developed. The effectiveness of the proposed approach is evidenced by means of a benchmark simulation study.

Original languageEnglish (US)
Title of host publication2015 54th IEEE Conference on Decision and Control, CDC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4073-4079
Number of pages7
Volume2016-February
ISBN (Print)9781479978861
DOIs
StatePublished - Feb 8 2016
Event54th IEEE Conference on Decision and Control, CDC 2015 - Osaka, Japan
Duration: Dec 15 2015Dec 18 2015

Other

Other54th IEEE Conference on Decision and Control, CDC 2015
CountryJapan
CityOsaka
Period12/15/1512/18/15

Fingerprint

Light trailers
Robotics
Pathwidth
Nonlinear Control
Tracking Control
Sweep
Control Strategy
Tail
Control Problem
Kinematics
Simulation Study
Truck trailers
Benchmark
Maneuverability
Axles
Model

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

Cite this

Van De Wouw, N., Ritzen, P., Roebroek, E., Jiang, Z-P., & Nijmeijer, H. (2016). Active trailer steering for robotic tractor-trailer combinations. In 2015 54th IEEE Conference on Decision and Control, CDC 2015 (Vol. 2016-February, pp. 4073-4079). [7402853] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2015.7402853

Active trailer steering for robotic tractor-trailer combinations. / Van De Wouw, Nathan; Ritzen, Paul; Roebroek, Erik; Jiang, Zhong-Ping; Nijmeijer, Henk.

2015 54th IEEE Conference on Decision and Control, CDC 2015. Vol. 2016-February Institute of Electrical and Electronics Engineers Inc., 2016. p. 4073-4079 7402853.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Van De Wouw, N, Ritzen, P, Roebroek, E, Jiang, Z-P & Nijmeijer, H 2016, Active trailer steering for robotic tractor-trailer combinations. in 2015 54th IEEE Conference on Decision and Control, CDC 2015. vol. 2016-February, 7402853, Institute of Electrical and Electronics Engineers Inc., pp. 4073-4079, 54th IEEE Conference on Decision and Control, CDC 2015, Osaka, Japan, 12/15/15. https://doi.org/10.1109/CDC.2015.7402853
Van De Wouw N, Ritzen P, Roebroek E, Jiang Z-P, Nijmeijer H. Active trailer steering for robotic tractor-trailer combinations. In 2015 54th IEEE Conference on Decision and Control, CDC 2015. Vol. 2016-February. Institute of Electrical and Electronics Engineers Inc. 2016. p. 4073-4079. 7402853 https://doi.org/10.1109/CDC.2015.7402853
Van De Wouw, Nathan ; Ritzen, Paul ; Roebroek, Erik ; Jiang, Zhong-Ping ; Nijmeijer, Henk. / Active trailer steering for robotic tractor-trailer combinations. 2015 54th IEEE Conference on Decision and Control, CDC 2015. Vol. 2016-February Institute of Electrical and Electronics Engineers Inc., 2016. pp. 4073-4079
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