Straight-line path following control of tractor-trailers with off-axle hitching and parameters uncertainties

Author

Ma Zhao ; Ma Baoli

Author_Institution

Seventh Res. Div., Behang Univ., Beijing, China

fYear

2011

fDate

22-24 July 2011

Firstpage

336

Lastpage

341

Abstract

In this work, we investigate the straight-line path following problem of tractor-trailers with off-axle hitching and parameter uncertainties. A sliding-mode variable structure and parameter adaptive controllers are proposed respectively achieving asymptotical stabilization of the tractor-trailers to the desired straight-line path in forward and backward manner despite unknown geometric parameters, while the linkage angle between the tractor and the trailer being kept bounded and convergent to zero. Simulation results show the effectiveness of the proposed control schemes.

Keywords

adaptive control; asymptotic stability; path planning; road vehicles; variable structure systems; asymptotical stabilization; off-axle hitching; parameter adaptive controller; parameter uncertainty; sliding-mode variable structure controller; straight-line path following control; tractor-trailer; Agricultural machinery; Couplings; Electrical engineering; Electronic mail; Simulation; Sliding mode control; Uncertain systems; Adaptive sliding-mode control; Off-axle tractor-trailers; Parameter uncertainty; Straight-line path following;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2011 30th Chinese

Conference_Location

Yantai

ISSN

1934-1768

Print_ISBN

978-1-4577-0677-6

Electronic_ISBN

1934-1768

Type

conf

Filename

6000642