Analysis of the backing up fuzzy control of truck-trailers using the qualitative theory of dynamic systems

the vehicle position given by p, , the vehicle orientation This paper reports some results of the research about the a , and the trailer orientation , autonomous guidance of articulated vehicles. Particularly, the design of stable and robust simple fuzzy controllers for It is well known that backing up control of truck-trailer is the backing-up manoeuvres of truck-trailer vehicles is a difficult exercise for all but the most skilled truck dristudied. The paper considers the nonlinear behavior vers. It is due to the following: involved in the system, studies the equilibrium points, and presents the bifurcation diagram for different values of the Backing-up is a control problem with a unstable plant. controller gains when saturation exist in the control action. The steering of the vehicle and the rotation of the trailer have opposite directions.