This paper reports some results of the research about the autonomous- guidance of articulated vehicles. Particularly, the design of stable and robust simple fuzzy controllers for the backing-up manoeuvres of truck-trailer vehicles is studied. The paper considers the nonlinear behavior involved in the system, studies the equilibrium points, and presents the bifurcation diagram for different values of the controller gains when saturation exist in the control action

A. Gonzilez-cantos