Theory and Practice of Reversing Control on Multiply- Articulated Vehicles
Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
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Rimmer, A., & Cebon, D. (2015). Theory and Practice of Reversing Control on Multiply- Articulated Vehicles. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering https://doi.org/10.1177/0954407015596918
A path-tracking controller is presented for automating the reversing of multiplyarticulated vehicles. This uses a state feedback approach and steers the wheels of the front axle to ensure the rearmost vehicle unit tracks a specified path. Linear closed-loop analysis is performed and shows that the controller is stable for vehicles with up to six trailers. The controller is implemented on three full-size, experimental heavy vehicles: a ‘Tractor-Semitrailer’, ‘B-double’ and ‘B-triple’ which have one, two and three trailers respectively. Experimental results are presented and the controller performance is evaluated. All test vehicles were able to track paths to within 400mm of the desired path.
reversing, articulated vehicle, path-tracking, control, trailer
This research was funded by the Engineering and Physical Sciences Research Council (EPSRC) and Volvo Trucks through an Industrial CASE award. The authors would like to acknowledge Leo Laine and Carl-Johan Hoel from Volvo Trucks for their collaboration and contributions to the research.
External DOI: https://doi.org/10.1177/0954407015596918
This record's URL: https://www.repository.cam.ac.uk/handle/1810/248826