This paper studies the domain of stablity of a controller designed to aid the backing-up of trailers equipped with steering systems. This controller steers the trailer wheels in a manner to stabilize the hitch angle between the trailer and the tow-vehicle. This allows the trailer to be backed-up at higher speeds and helps prevent jackknifing. But the hitch-angle can only be stabilized over a neighborhood of the desired hitch-angle. This paper attempts to define the extent of this neighborhood, i.e., the extent of this domain of stability. The method that is used to determine the bondary of the domain of stability is to study the flow-field of the system trajectories in reverse time. The key concept is: In forward time the controlled tow-vehicle/trailer system is stable over some neighborhood. Therefore, in reverse time the two-vehicle/tailer system is unstable over the same neighborhood and 'stable' outside of it. Therefore, all system trajectories starting from initial conditions inside the neighborhood will proceed to the boundary of the neighborhood if simulated in reverse time; this will reveal the boundary.
The domain of stability of a steering controller for the backward motion of steering trailers
Der Stabilitätsbereich eines Lenkreglers für die Rückwärtsbewegung von gelenkten Sattelaufliegern
1991
11 Seiten, 9 Bilder, 6 Quellen
Aufsatz (Konferenz)
Englisch
The domain of stability of a steering controller for the backward motion of steering trailers
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