Active trailer steering for robotic tractor-trailer combinations

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

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

3 Citations (Scopus)


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 languageEnglish
Title of host publicationProceedings 2015 54th IEEE Conference on Decision and Control
EditorsY Ohta, M Sampei, A Astolfi
Place of PublicationPiscataway, NJ, USA
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
ISBN (Electronic)978-1-4799-7886-1
Publication statusPublished - 2015
Event54th IEEE Conference on Decision and Control, CDC 2015 - Osaka, Japan
Duration: 15 Dec 201518 Dec 2015
Conference number: 54


Conference54th IEEE Conference on Decision and Control, CDC 2015
Abbreviated titleCDC 2015

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