This paper is devoted to the trajectory tracking and set-point feedback control problems formulated for an articulated tractor-trailer vehicle with off-axle hitching. The vector field(s) orientation (VFO) control method presented in the paper allows treating the two tasks in a unified manner. Proposed concept leads to smooth and non-oscillatory vehicle motion quality together with intuitive geometrical interpretation of particular control components and, as a consequence, simple synthesis of the controller parameters. Numerical verification for the cases of backward pushing a trailer and backward parking maneuvers illustrate the control quality in the closed-loop system.


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    Title :

    VFO tracking and set-point control for an articulated vehicle with off-axle hitched trailer


    Additional title:

    Vektorfeldorientierungsverfolgung und Sollwert-Regelung für einen Sattelzug mit Anhänger


    Contributors:


    Publication date :

    2009


    Size :

    6 Seiten, 5 Bilder, 8 Quellen



    Type of media :

    Conference paper


    Type of material :

    Storage medium


    Language :

    English




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