A path-tracking controller is presented for automating the reversing of multiply-articulated vehicles. This uses a state feedback approach and steers the wheels of the front axle to ensure that the rearmost vehicle unit tracks a specified path. Linear closed-loop analysis is performed and shows that the controller is stable for vehicles with up to six trailers. The controller is implemented on three full-size experimental heavy vehicles: a 'tractor-semitrailer', a 'B-double' vehicle and a 'B-triple' vehicle, which have one trailer, two trailers and three trailers respectively. Experimental results are presented and the controller performance is evaluated. All test vehicles were able to track the paths to within 400...mm of the desired path.


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    Title :

    Theory and practice of reversing control on multiply-articulated vehicles


    Contributors:


    Publication date :

    2016




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English



    Classification :

    RVK:    ZO 4200: / ZO 4200
    BKL:    55.20 / 55.20 Straßenfahrzeugtechnik
    Local classification TIB:    275/7025



    Theory and practice of reversing control on multiply-articulated vehicles

    Rimmer, Amy J / Cebon, David | SAGE Publications | 2016


    Theory and practice of reversing control on multiply-articulated vehicles

    Rimmer,A.J. / Cebon,D. / Cambridge Univ.,GB | Automotive engineering | 2016