A tractor-trailer parking control scheme using adaptive dynamic programming

Coordinated Control of a Tractor-Trailer and a Combine Harvester by Neural Adaptive Robust Control

In this paper, the coordinated control problem of a tractor-trailer and a combine harvester is taken into account in the presence of model uncertainties by using the leader-following approach to track a reference trajectory for the first time. At first, a second-order leader-follower dynamic model is developed in Euler-Lagrange form which preserves all structural properties of the dynamic model...

Trailer Steering Control of a Tractor-Trailer Robot

In this paper, we consider active trailer steering control as a means to improve the maneuverability of (long) truck–trailer combinations during cornering. Hereto, 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-a...

Flow control over a tractor-trailer using vortex generator

Study on Tractor Semi-Trailer Roll Stability Control

The rollover accidents in the tractor semi-trailer are often fatal and many factors could cause the tractor semitrailer rollover. In this paper, a rollover prevention control method was proposed based on real-time calculation of rollover index. The vehicle Center of Gravity CG height from the ground is an important parameter in the rollover index and it is estimated through lateral acceleration...

Exact Motion Planning for Tractor-Trailer Robots

A tractor-trailer robot consists of a carlike tractor towing a passive trailer. Due to its highly nonholonomic nature, the kinematics of this type of robot are complicated and di cult to compute. We present exact closed-form solutions for the kinematic parameters of a tractortrailer robot and use them to construct an exact and e cient motion planner in the absence of obstacles. This local plann...