Active trailer steering for robotic tractor-trailer combinations
Nathan Van De Wouw (TU Delft - Team Bart De Schutter, 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)
Henk Nijmeijer (Eindhoven University of Technology)
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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.
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