2019/12/12 by Oskar Ljungqvist, Ljungqvist, Oskar, Daniel Axehill +1
Engineering · #Control and Dynamics of Mobile Robots #FOS: Electrical engineering #FOS: Mathematics #Optimization and Control (math.OC) #Soil Mechanics and Vehicle Dynamics #Systems and Control (eess.SY) #Vehicle Dynamics and Control Systems #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1912.06259
openalex publication_date 2019/12/12 · openalex created_date 2022/07/26 · openalex updated_date 2026/07/28
Stabilizing multi-steered articulated vehicles in backward motion is a\ncomplex task for any human driver. Unless the vehicle is accurately steered,\nits structurally unstable joint-angle kinematics during reverse maneuvers can\ncause the vehicle segments to fold and enter a jack-knife state. In this work,\na model predictive path-following controller is proposed enabling automatic\nlow-speed steering control of multi-steered articulated vehicles, comprising a\ncar-like tractor and an arbitrary number of trailers with passive or active\nsteering. The proposed path-following controller is tailored to follow nominal\npaths that contains full state and control-input information, and is designed\nto satisfy various physical constraints on the vehicle states as well as\nsaturations and rate limitations on the tractor's curvature and the trailer\nsteering angles. The performance of the proposed model predictive\npath-following controller is evaluated in a set of simulations for a\nmulti-steered 2-trailer with a car-like tractor where the last trailer has\nsteerable wheels.\n