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.
Path control during backward driving of a tractor-trailer with off-axle hitching
Bahnverfolgungsregelung eines Systems Zugmaschine/Anhänger während der Rückwärtsfahrt
1999
6 Seiten, 3 Bilder, 14 Quellen
Conference paper
English