Stabilization control of a backward tractor-trailer mobile robot

Cheng, Jianhua; Zhang, Yong; Hou, Shaomin; Song, Benjia

doi:10.1109/wcica.2010.5554359

Cited by 8 publications

(3 citation statements)

References 7 publications

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“…The articulated angle's rate controller is developed to ensure the stability of the angle rate while controlling the heading of the trailer. The output of the controller is the steering command ϕ shown in Equation (23).…”

Section: Articulated Angle's Rate Controllermentioning

confidence: 99%

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Control Design and Assessment for a Reversing Tractor–Trailer System Using a Cascade Controller

2021

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In recent years, control design for unmanned systems, especially a tractor–trailer system, has gained popularity among researchers. The emergence of such interest is caused by the potential reduction in cost and shortage of number of workers and labors. Two industries will benefit from the advancements of these types of systems: agriculture and cargo. By using the unmanned tractor–trailer system, harvesting and cultivating plants will become a safe and easy task. It will also cause a reduction in cost which in turn reduces the price on the end consumers. On the other hand, by using the unmanned tractor–trailer system in the cargo industry, shipping cost and time for the item delivery will be reduced. The work presented in this paper focuses on the development of a path tracking and a cascaded controller to control a tractor–trailer in reverse motion. The path tracking controller utilizes the Frenet–Serret frame to control the kinematics of the tractor–trailer system on a desired path, while the cascade controller’s main objective is to stabilize the system and to perform commands issued by the path tracker. The controlled parameters in this proposed design are the lateral distance to a path, trailer’s heading angel, articulated angel, and articulated angle’s rate. The main goal of such controller is to follow a path while the tractor–trailer system is moving in reverse and controlling the stability of the articulated vehicle to prevent the occurrence of a jackknife incident (uncontrolled state). The proposed controller has been tested in a different scenario where a successful implementation has been shown.

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Section: Articulated Angle's Rate Controllermentioning

confidence: 99%

“…A genetic programming algorithm was used to find an approximately correct controller for a backing tractor-trailer system to a loading dock was proposed in [21]. In [22,23] virtual dynamics were used to linearize a non-linearizable tractor and trailer to develop a backward controller.…”

Section: Introductionmentioning

confidence: 99%

Control Design and Assessment for a Reversing Tractor–Trailer System Using a Cascade Controller

2021

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“…These methods are advantageous in tackling problems arising from the control of articulated and underactuated systems. In a similar context, the feedback stabilization scheme was adopted in controlling and stabilizing a truck-trailer system [9].…”

Section: Introductionmentioning

confidence: 99%

Design of an Automatically Tuned Fuzzy Controller for a Truck and Multitrailer System

Ren

2013

Advances in Mechanical Engineering

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The use of a truck and multitrailer system is advantageous because of its ability to transport heavy and large parts with a single powered vehicle. On the other hand, when the system is deployed in an autonomous and unmanned scenario, it remains a challenging task to design a drive controller. Since the drive is only applied to the truck and motivated by successful cases of human expert drivers, a fuzzy controller is developed to generate speed and turn rate commands in order to steer the multi-trailer system to reach the target position with minimum position error. Furthermore, in order to make the controller design efficient and effective, the parameters in the fuzzy controller including the membership functions and rules are automatically tuned using the implementation of efficient particle swarm optimization algorithm instead of relying solely on human expert knowledge. Nearoptimal parameters are then derived and adopted in the controller, and drive commands are then generated. The performance of the truck-and-multi-trailer system under fuzzy control is verified through simulation studies, and satisfactory results are obtained.

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Backward Path Tracking Control for Mobile Robot with Three Trailers

Cheng

Wang

2017

Neural Information Processing

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Stabilization control of a backward tractor-trailer mobile robot

Cited by 8 publications

References 7 publications

Control Design and Assessment for a Reversing Tractor–Trailer System Using a Cascade Controller

Control Design and Assessment for a Reversing Tractor–Trailer System Using a Cascade Controller

Design of an Automatically Tuned Fuzzy Controller for a Truck and Multitrailer System

Backward Path Tracking Control for Mobile Robot with Three Trailers

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