Open AccessStable Reverse Driving of a Tractor with Multiple Trailers
Author(s) -
Blaž Jelenc
Publication year - 2022
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2224/1/012096
Subject(s) - tractor , trailer , computer science , set (abstract data type) , control theory (sociology) , reverse logistics , automotive engineering , control (management) , mathematics , engineering , artificial intelligence , programming language , supply chain , law , political science
We address the problem of the stable reverse driving of a vehicle with multiple trailers. By itself, the reverse driving of a multiple trailer vehicle is highly unstable, so a proper steering control is needed. First, the straight reverse driving is analysed and a stable solution to the problem is explicitly calculated. The solution depends on the specific geometry of the vehicle, namely on the lengths of the tractor and the trailers, and on the set of parameters that determine the rate of convergence of the reverse driving towards the straight reverse driving. We describe two different approaches towards the derivation of the solution of the stable reverse driving. We show that the solution to the problem is uniquely determined and finally we show that the proposed solution can be easily applied to the reverse driving of the tractor along an arbitrary, gently curved, path.