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dc.contributor.authorRimmer, AJen
dc.contributor.authorCebon, Daviden
dc.date.accessioned2015-07-02T14:09:53Z
dc.date.available2015-07-02T14:09:53Z
dc.date.issued2015-08-18en
dc.identifier.citationProceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 2015. doi: 10.1177/0954407015596918en
dc.identifier.issn0954-4070
dc.identifier.urihttps://www.repository.cam.ac.uk/handle/1810/248826
dc.description.abstractA 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.
dc.description.sponsorshipThis 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.
dc.languageEnglishen
dc.language.isoenen
dc.publisherSage
dc.subjectreversingen
dc.subjectarticulated vehicleen
dc.subjectpath-trackingen
dc.subjectcontrolen
dc.subjecttraileren
dc.titleTheory and Practice of Reversing Control on Multiply- Articulated Vehiclesen
dc.typeArticle
dc.description.versionThis is the author accepted manuscript. The final version is available from Sage via http://dx.doi.org/10.1177/0954407015596918en
prism.publicationDate2015en
prism.publicationNameProceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineeringen
dc.rioxxterms.funderEPSRC
rioxxterms.versionofrecord10.1177/0954407015596918en
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserveden
rioxxterms.licenseref.startdate2015-08-18en
dc.contributor.orcidCebon, David [0000-0003-2828-6445]
dc.identifier.eissn2041-2991
rioxxterms.typeJournal Article/Reviewen


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