A control scheme is proposed for the backward line tracking problem of a truck with trailer. It combines two di erent regulators, one for backward motion and the other for forward, in a switching scheme that assures convergence to the desired line. The scheme has been implemented and successfully used to reverse a radio-controlled vehicle.

This paper presents a robust method to control a mobile robot towing a trailer. Both problems of tra-jectory tracking and steering to a given connguration are addressed. This second issue is solved by an iterative trajectory tracking. Perturbations are taken into account along the motions. Experimental results on the mobile robot Hilare illustrate the validity of our approach.

In this paper, a simple approach is presented for the calculation of deflection of a semi trailer chassis since the less deflection become a unique selling point of a semi trailer. First of all, by using the 3D data of the chassis a function for the moment of inertia of the cross section is created and then the chassis is modelled as a Euler Bernoulli Beam. Different loading conditions coming f...

In this paper, we investigate the reverse motion of a car-trailer combination. The single track model vehicle is used with quasi-static tire to design simple linear feedback controller that can achieve stable reversing along straight path. stability closed-loop system analyzed by constructing charts in plane control gains. effect speed on also shown. order validate theoretical results, laborato...

The article discusses substantiating the parameters brake system of a tractor-trailer (TT). section offers comparative analysis theoretical and experimental studies TT drive its elements. Based on that, ordinary differential equations were solved by Runge - Kutta method, first-order accuracy (Euler's method). To solve partial equations, we used modified Lax Wendroff scheme. results obtained usi...

Existing methods for nonholonomic feedback stabilization can only be applied to exactly nilpotentizable or flat systems. In this paper, a car towing two off-hooked trailers is considered as a canonical example of robot that does not fall into the above class. We show that exponential convergence to arbitrary configurations can be obtained by means of an iterative steering technique based on a n...

The operation of the pivot trailer on flat land is more ergonomic than conventional trailers, but sloping it has never been tested. two-wheeled tractor carried out by operator uneven problems with steering handlebar which goes up and down following movement body, thus affecting increase in workload. To reduce excessive workload, necessary to design a that can be controlled easily. purpose this ...

In order to solve the labor shortage problem, unmanned agricultural vehicles have been widely promoted in China. Among these vehicles, tractor-trailers garnered most interest thanks their flexibility and efficiency. However, trapped by factors of vehicle parameter uncertainties, unstructured farmland roads, etc., current shown poor tracking accuracy longer online times straight-line path tracki...