Active trailer steering for robotic tractor-trailer combinations

Conference paper (2015)

Authors

N. van de Wouw Team Bart De Schutter - Mechanical, Maritime and Materials Engineering , University of Minnesota System, Eindhoven University of Technology
Paul Ritzen Eindhoven University of Technology
Erik Roebroek Eindhoven University of Technology
Zhong Ping Jiang New York University
H. Nijmeijer Eindhoven University of Technology
Research Group
Team Bart De Schutter (Mechanical, Maritime and Materials Engineering) (TU Delft)
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Published Date

2015

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Bart De Schutter

Abstract

Active trailer steering control can improve the manoeuvrability of (long) truck-trailer combinations during cornering. To assess the effectiveness of trailer steering control, we formulate the problem of reducing the so-called swept-path width during cornering, and that of eliminating unsafe tail swing of the trailer, as a tracking control problem. We present a kinematic tractor-trailer model including off-axle hitching, on the basis of which nonlinear control strategies solving this tracking problem are developed. The effectiveness of the proposed approach is evidenced by means of a benchmark simulation study.