This paper describes the motion control for an articulated vehicle with double trailers. The backward motion of an articulated vehicle requires the experienced skill, because positions and angles of trailers must be controlled by only an input to a tractor. When a driver changes angles of trailers in backward driving, the steering angle of the tractor must be controlled skillfully. This operation is different in case of the backward motion of a single vehicle. If a driver's control skill is poor, maneuvering of an articulated vehicle is very dangerous. In this research, the control method for an articulated vehicle which has two trailers is proposed. By using this method, drivers are able to maneuver the articulated vehicle easily as like maneuvering a single vehicle. This method is based on Lyapunov function and backstepping. Several numerical results are shown to confirm the validity of the proposed method


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    Title :

    Backward Motion Control for Articulated Vehicles with Double Trailers Considering Driver's Input


    Contributors:


    Publication date :

    2006-11-01


    Size :

    446407 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Wind loading on articulated trailers during tipping

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    KAGEYAMA, Ichiro / SAITO, Yasushi | Taylor & Francis Verlag | 1985


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    Kageyama, Ichiro / Saito, Yasushi | Taylor & Francis Verlag | 1986


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    Fessler, H / Hyde, T H / Sun, W | SAGE Publications | 1995


    Wind loading on articulated trailers during tipping

    Fessler, H. / Hyde, T.H. / Sun, W. | Tema Archive | 1995