This paper is devoted to the trajectory tracking and set-point feedback control problems formulated for an articulated tractor-trailer vehicle with off-axle hitching. The vector field(s) orientation (VFO) control method presented in the paper allows treating the two tasks in a unified manner. Proposed concept leads to smooth and non-oscillatory vehicle motion quality together with intuitive geometrical interpretation of particular control components and, as a consequence, simple synthesis of the controller parameters. Numerical verification for the cases of backward pushing a trailer and backward parking maneuvers illustrate the control quality in the closed-loop system.
VFO tracking and set-point control for an articulated vehicle with off-axle hitched trailer
Vektorfeldorientierungsverfolgung und Sollwert-Regelung für einen Sattelzug mit Anhänger
ECC, European Control Conference, 2009 ; 266-271
2009
6 Seiten, 5 Bilder, 8 Quellen
Aufsatz (Konferenz)
Datenträger
Englisch
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