Trailer Steering Control of a Tractor-Trailer Robot

Paul Ritzen, Erik Roebroek, Nathan van de Wouw, Zhong-Ping Jiang, Henk Nijmeijer

Research output: Contribution to journalArticle

Abstract

In this paper, we consider active trailer steering control as a means to improve the maneuverability of (long) truck-trailer combinations during cornering. Hereto, 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 we design nonlinear control strategies solving this tracking problem. The effectiveness of the proposed approach is evidenced experimentally on a robotic tractor-trailer platform.

Original languageEnglish (US)
JournalIEEE Transactions on Control Systems Technology
DOIs
StateAccepted/In press - Dec 9 2015

Fingerprint

Light trailers
Robots
Truck trailers
Maneuverability
Axles
Kinematics
Robotics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Trailer Steering Control of a Tractor-Trailer Robot. / Ritzen, Paul; Roebroek, Erik; van de Wouw, Nathan; Jiang, Zhong-Ping; Nijmeijer, Henk.

In: IEEE Transactions on Control Systems Technology, 09.12.2015.

Research output: Contribution to journalArticle

Ritzen, Paul ; Roebroek, Erik ; van de Wouw, Nathan ; Jiang, Zhong-Ping ; Nijmeijer, Henk. / Trailer Steering Control of a Tractor-Trailer Robot. In: IEEE Transactions on Control Systems Technology. 2015.
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