Maneuvering assistant for truck and trailer combinations with arbitrary trailer hitching

Author

Sklyarenko, Y. ; Schreiber, Falk ; Schumacher, Walter

Author_Institution

Inst. of Control Eng., Tech. Univ. Braunschweig, Braunschweig, Germany

fYear

2013

fDate

Feb. 27 2013-March 1 2013

Firstpage

774

Lastpage

779

Abstract

Stabilizing controllers can assist the driver to safely maneuver of truck and trailer combinations like the EuroCombis. This paper presents a novel nonlinear controller for combinations of a nonholonomic tractor car with two semi-trailers based upon a instantaneous approximation of the vehicle kinematics, an exact input-state linearization technique and a model-reference control scheme. The main advantage of the suggested controller is its universality, as it can be applied to truck and trailer combinations with an arbitrary hitching offset as well as in both driving directions. Convergence and robustness properties of the proposed controller have been validated by series of simulations and experiments with a combination, which possesses one off-axle and one on-axle joint. The presented method can also be extended to other truck and trailer combinations.

Keywords

automobiles; axles; convergence; kinematics; linearisation techniques; motion control; nonlinear control systems; robust control; vehicle dynamics; EuroCombis; arbitrary hitching offset; arbitrary trailer hitching; convergence; driver; driving direction; input-state linearization technique; instantaneous approximation; maneuvering assistant; model-reference control scheme; nonholonomic tractor car; nonlinear controller; off-axle joint; one on-axle joint; robustness property; semitrailer; stabilizing controller; trailer maneuver; truck maneuver; vehicle kinematics; Agricultural machinery; Approximation methods; Axles; Kinematics; Steady-state; Vehicle dynamics; Vehicles; input-state linearization; model-reference control scheme; off-axle hitching; truck and trailer combination;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics (ICM), 2013 IEEE International Conference on

Conference_Location

Vicenza

Print_ISBN

978-1-4673-1386-5

Electronic_ISBN

978-1-4673-1387-2

Type

conf

DOI

10.1109/ICMECH.2013.6519139

Filename

6519139