Active trailer steering for robotic tractor-trailer combinations

Nathan Van De Wouw; Paul Ritzen; Erik Roebroek; Zhong Ping Jiang; Henk Nijmeijer

doi:10.1109/CDC.2015.7402853

Active trailer steering for robotic tractor-trailer combinations

Nathan Van De Wouw, Paul Ritzen, Erik Roebroek, Zhong Ping Jiang, Henk Nijmeijer

Team Bart De Schutter

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

9 Citations (Scopus)

Abstract

Active trailer steering control can improve the manoeuvrability of (long) truck-trailer combinations during cornering. To assess the effectiveness of trailer steering control, we formulate the problem of reducing the so-called swept-path width during cornering, and that of eliminating unsafe tail swing of the trailer, as a tracking control problem. We present a kinematic tractor-trailer model including off-axle hitching, on the basis of which nonlinear control strategies solving this tracking problem are developed. The effectiveness of the proposed approach is evidenced by means of a benchmark simulation study.

Original language	English
Title of host publication	Proceedings 2015 54th IEEE Conference on Decision and Control
Editors	Y Ohta, M Sampei, A Astolfi
Place of Publication	Piscataway, NJ, USA
Publisher	IEEE
Pages	4073-4079
ISBN (Electronic)	978-1-4799-7886-1
DOIs	https://doi.org/10.1109/CDC.2015.7402853
Publication status	Published - 2015
Event	54th IEEE Conference on Decision and Control, CDC 2015 - Osaka, Japan Duration: 15 Dec 2015 → 18 Dec 2015 Conference number: 54

Conference

Conference	54th IEEE Conference on Decision and Control, CDC 2015
Abbreviated title	CDC 2015
Country/Territory	Japan
City	Osaka
Period	15/12/15 → 18/12/15

Access to Document

10.1109/CDC.2015.7402853

Cite this

@inproceedings{c5fcf9a7fe0e4c16b58266fcdff77c94,

title = "Active trailer steering for robotic tractor-trailer combinations",

abstract = "Active trailer steering control can improve the manoeuvrability of (long) truck-trailer combinations during cornering. To assess the effectiveness of trailer steering control, we formulate the problem of reducing the so-called swept-path width during cornering, and that of eliminating unsafe tail swing of the trailer, as a tracking control problem. We present a kinematic tractor-trailer model including off-axle hitching, on the basis of which nonlinear control strategies solving this tracking problem are developed. The effectiveness of the proposed approach is evidenced by means of a benchmark simulation study.",

author = "{Van De Wouw}, Nathan and Paul Ritzen and Erik Roebroek and Jiang, {Zhong Ping} and Henk Nijmeijer",

year = "2015",

doi = "10.1109/CDC.2015.7402853",

language = "English",

pages = "4073--4079",

editor = "Y Ohta and M Sampei and A Astolfi",

booktitle = "Proceedings 2015 54th IEEE Conference on Decision and Control",

publisher = "IEEE",

address = "United States",

note = "54th IEEE Conference on Decision and Control, CDC 2015, CDC 2015 ; Conference date: 15-12-2015 Through 18-12-2015",

}

Van De Wouw, N, Ritzen, P, Roebroek, E, Jiang, ZP & Nijmeijer, H 2015, Active trailer steering for robotic tractor-trailer combinations. in Y Ohta, M Sampei & A Astolfi (eds), Proceedings 2015 54th IEEE Conference on Decision and Control., 7402853, IEEE, Piscataway, NJ, USA, pp. 4073-4079, 54th IEEE Conference on Decision and Control, CDC 2015, Osaka, Japan, 15/12/15. https://doi.org/10.1109/CDC.2015.7402853

Active trailer steering for robotic tractor-trailer combinations. / Van De Wouw, Nathan; Ritzen, Paul; Roebroek, Erik et al.
Proceedings 2015 54th IEEE Conference on Decision and Control. ed. / Y Ohta; M Sampei; A Astolfi. Piscataway, NJ, USA: IEEE, 2015. p. 4073-4079 7402853.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

TY - GEN

T1 - Active trailer steering for robotic tractor-trailer combinations

AU - Van De Wouw, Nathan

AU - Ritzen, Paul

AU - Roebroek, Erik

AU - Jiang, Zhong Ping

AU - Nijmeijer, Henk

N1 - Conference code: 54

PY - 2015

Y1 - 2015

N2 - Active trailer steering control can improve the manoeuvrability of (long) truck-trailer combinations during cornering. To assess the effectiveness of trailer steering control, we formulate the problem of reducing the so-called swept-path width during cornering, and that of eliminating unsafe tail swing of the trailer, as a tracking control problem. We present a kinematic tractor-trailer model including off-axle hitching, on the basis of which nonlinear control strategies solving this tracking problem are developed. The effectiveness of the proposed approach is evidenced by means of a benchmark simulation study.

AB - Active trailer steering control can improve the manoeuvrability of (long) truck-trailer combinations during cornering. To assess the effectiveness of trailer steering control, we formulate the problem of reducing the so-called swept-path width during cornering, and that of eliminating unsafe tail swing of the trailer, as a tracking control problem. We present a kinematic tractor-trailer model including off-axle hitching, on the basis of which nonlinear control strategies solving this tracking problem are developed. The effectiveness of the proposed approach is evidenced by means of a benchmark simulation study.

UR - http://www.scopus.com/inward/record.url?scp=84962026537&partnerID=8YFLogxK

U2 - 10.1109/CDC.2015.7402853

DO - 10.1109/CDC.2015.7402853

M3 - Conference contribution

AN - SCOPUS:84962026537

SP - 4073

EP - 4079

BT - Proceedings 2015 54th IEEE Conference on Decision and Control

A2 - Ohta, Y

A2 - Sampei, M

A2 - Astolfi, A

PB - IEEE

CY - Piscataway, NJ, USA

T2 - 54th IEEE Conference on Decision and Control, CDC 2015

Y2 - 15 December 2015 through 18 December 2015

ER -

Active trailer steering for robotic tractor-trailer combinations

Abstract

Conference

Access to Document

Other files and links

Fingerprint

Cite this