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In this paper a cascaded approach for stabilization and path tracking of ageneral 2-trailer vehicle configuration with an off-axle hitching is presented.A low level Linear Quadratic controller is used for stabilization of theinternal angles while a pure pursuit path tracking controller is used on ahigher level to handle the path tracking. Piecewise linearity is the onlyrequirement on the control reference which makes the design of reference pathsvery general. A Graphical User Interface is designed to make it easy for a userto design control references for complex manoeuvres given some representationof the surroundings. The approach is demonstrated with challenging pathfollowing scenarios both in simulation and on a small scale test platform.

Path tracking and stabilization for a reversing general 2-trailer configuration using a cascaded control approach