CUED Publications database

Theory and practice of reversing control on multiply-articulated vehicles

Rimmer, AJ and Cebon, D (2016) Theory and practice of reversing control on multiply-articulated vehicles. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 230. pp. 899-913. ISSN 0954-4070

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© Institution of Mechanical Engineers. A path-tracking controller is presented for automating the reversing of multiply-articulated vehicles. This uses a state feedback approach and steers the wheels of the front axle to ensure that 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', a 'B-double' vehicle and a 'B-triple' vehicle, which have one trailer, two trailers and three trailers respectively. Experimental results are presented and the controller performance is evaluated. All test vehicles were able to track the paths to within 400 mm of the desired path.

Item Type: Article
Divisions: Div C > Applied Mechanics
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 19:33
Last Modified: 17 Jul 2018 08:19