Linear Stability of Reversing a Car-trailer Combination

In this paper, we investigate the reverse motion of a car-trailer combination. The single track model of the vehicle is used with quasi-static tire model to design a simple linear feedback controller that can achieve stable reversing motion along a straight path. The linear stability of the closed-loop system is analyzed by constructing stability charts in the plane of the control gains. The effect of the reversing speed of the vehicle on the stability is also shown. In order to validate the theoretical results, laboratory experiments are carried out using a small-scale vehicle and a conveyor belt

Low speed maneuvering assistance for long vehicle combinations

This paper considers a low speed maneuvering problem for long articulated vehicle combinations. High precision maneuvering is achieved by designing a model-based state feedback optimal control method, commanding the steering of the first unit and a moveable coupling point between the first unit and the trailer. Simulation results are presented for a tight 90 degree turn, involving both forward and backward motions

Path-tracking of a tractor-trailer vehicle along rectilinear and circular paths: A Lyapunov-based approach

Published versio

Modeling and adaptive tracking for stochastic nonholonomic constrained mechanical systems

This paper is devoted to the problem of modeling and trajectory tracking for stochastic nonholonomic dynamic systems in the presence of unknown parameters. Prior to tracking controller design, the rigorous derivation of stochastic nonholonomic dynamic model is given. By reasonably introducing so-called internal state vector, a reduced dynamic model, which is suitable for control design, is proposed. Based on the backstepping technique in vector form, an adaptive tracking controller is then derived, guaranteeing that the mean square of the tracking error converges to an arbitrarily small neighborhood of zero by tuning design parameters. The efficiency of the controller is demonstrated by a mechanics system: a vertical mobile wheel in random vibration environment

A numerical control algorithm for a B-double truck-trailer with steerable trailer wheels and active hitch angles. Part 2: reversing

The authors have previously proposed a solution to the twin problems of wheel scuffing and off-tracking of B-double truck–trailer vehicles thereby reducing tyre wear and environmental damage as well as improving maneuverability. The solution to the scuffing problem requires that trailer axles in excess of one per trailer must have steerable wheels. However, if all trailer wheels are steerable, then the off-tracking problem can also be solved. The previous work devised an algorithm for a B-double in forward motion, whereby an on-board computer would be used to calculate the correct wheel and hitch angles and a control system would implement these angles. The purpose of the present technical note is to complete the study of a numerical algorithm for navigating a B-double truck–trailer vehicle by considering travel in the reverse direction. In this case the angle of the front wheels of the truck must also be controlled by the on-board computer. The algorithm for determining the effective angle of the truck’s steerable wheels is derived using an innovative combination of vector geometry and calculus and completes the total control system for these B-double vehicles. The paper concludes with a simulation study of the control algorithm demonstrating its versatility for reversing along twisting paths and effectiveness in reducing off-tracking

Theory and practice of reversing control on multiply-articulated vehicles

A path-tracking controller is presented for automating the reversing of multiply-articulated vehicles. This uses a state feedback approach and steers the wheels of the front axle to ensure that the rearmost vehicle unit tracks a specified path. Linear closed-loop analysis is performed and shows that the controller is stable for vehicles with up to six trailers. The controller is implemented on three full-size experimental heavy vehicles: a ‘tractor–semitrailer’, a ‘B-double’ vehicle and a ‘B-triple’ vehicle, which have one trailer, two trailers and three trailers respectively. Experimental results are presented and the controller performance is evaluated. All test vehicles were able to track the paths to within 400 mm of the desired path. This research was funded by the Engineering and Physical Sciences Research Council (EPSRC) and Volvo Trucks through an Industrial CASE award. The authors would like to acknowledge Leo Laine and Carl-Johan Hoel from Volvo Trucks for their collaboration and contributions to the research.This is the author accepted manuscript. The final version is available from Sage via http://dx.doi.org/10.1177/095440701559691