Automata-based modeling and control of a truck and trailer vehicle equipped with a kingpin sliding mechanism

Author

Manesis, S. ; Deligiannis, V.

Author_Institution

Electr. & Comput. Eng. Dept., Univ. of Patras, Patras, Greece

fYear

2009

fDate

22-25 Sept. 2009

Firstpage

1

Lastpage

4

Abstract

Trailer systems consist of a steering tractor and a passive trailer linked together with rigid free joint. In this paper, we consider an active kingpin joint which is sliding on the rear axle of the tractor to compensate the off-tracking and jackknife phenomena. The backward and forward motion of the articulated vehicle is modeled in various distinct kinematic phases according to the kind of the path and braking or no condition. The scheme of a switching controller is formalized as a global automaton. The simulation results show an acceptable kinematic behavior of the vehicle and effectiveness in avoiding unstable maneuvers.

Keywords

automata theory; kinematics; steering systems; vehicles; articulated vehicle; automata-based modeling; braking; global automaton; jackknife phenomena; kingpin sliding mechanism; off-tracking; rear axle; rigid free joint; steering tractor; switching controller; trailer vehicle; truck; unstable maneuvers; Automatic control; Automotive engineering; Control systems; Fuzzy control; Fuzzy systems; Kinematics; Mobile robots; Nonlinear control systems; Sliding mode control; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Emerging Technologies & Factory Automation, 2009. ETFA 2009. IEEE Conference on

Conference_Location

Mallorca

ISSN

1946-0759

Print_ISBN

978-1-4244-2727-7

Electronic_ISBN

1946-0759

Type

conf

DOI

10.1109/ETFA.2009.5347256

Filename

5347256