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Robust trajectory tracking for a reversing tractor trailer
Author(s) -
Pradalier Cédric,
Usher Kane
Publication year - 2008
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.20241
Subject(s) - reversing , robustness (evolution) , trailer , control theory (sociology) , robust control , vehicle dynamics , nonlinear system , computer science , trajectory , control engineering , engineering , control (management) , control system , artificial intelligence , automotive engineering , biochemistry , chemistry , physics , electrical engineering , quantum mechanics , astronomy , gene
Tractor‐trailer reversing is a classical nonlinear control problem in which many of the solutions proposed in the literature perform poorly in the presence of real‐world constraints such as steering angle, rate limits, and lags. In this paper we describe a new method in which an inner loop controls the hitch angle of the trailer, creating a virtual articulated vehicle to which existing control techniques can be applied. We provide an analysis of the stability and convergence properties of this control approach, as well as experimental results that illustrate the robustness of this approach to model estimation errors, low‐level control loop dynamics, and other disturbances introduced by, for example, state estimation errors. © 2008 Wiley Periodicals, Inc.