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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    Title :

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


    Additional title:

    Bahnverfolgungsregelung eines Systems Zugmaschine/Anhänger während der Rückwärtsfahrt


    Contributors:


    Publication date :

    1999


    Size :

    6 Seiten, 3 Bilder, 14 Quellen


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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