A nonlinear feedback path controller during backward driving for a tractor-trailer system with off axle hitching is proposed. The control law is constructed using back-stepping and high-gain design techniques and involves error coordinates expressed in a moving reference frame which is partially linked to the trailer. Exponential stability of the closed-loop system in error coordinates is established. Simulation results illustrate the effectiveness of the proposed controller.


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    Titel :

    Path control during backward driving of a tractor-trailer with off-axle hitching


    Weitere Titelangaben:

    Bahnverfolgungsregelung eines Systems Zugmaschine/Anhänger während der Rückwärtsfahrt


    Beteiligte:
    Petrov, P. (Autor:in) / Tetreault, M. (Autor:in) / Lafontaine, J. de (Autor:in)


    Erscheinungsdatum :

    1999


    Format / Umfang :

    6 Seiten, 3 Bilder, 14 Quellen


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Path Control During Backward Driving of a Tractor-Trailer with Off-Axle Hitching

    Petrov, P. / Tetreault, M. / de Lafontaine, J. | British Library Conference Proceedings | 1999


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    Bao-Li, Ma / Ye, Niu / Wen-Jing, Xie et al. | IEEE | 2014



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