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Hybrid Control of a Truck and Trailer Vehicle

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Hybrid Systems: Computation and Control (HSCC 2002)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 2289))

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Abstract

A hybrid control scheme is proposed for the stabilization of backward driving along simple paths for a miniature vehicle composed of a truck and a two-axle trailer. When reversing, the truck and trailer can be modelled as an unstable nonlinear system with state and input saturations. Due to these constraints the system is impossible to globally stabilize with standard smooth control techniques, since some initial states necessarily lead to that the so called jack-knife locks between the truck and the trailer. The proposed hybrid control method, which combines backward and forward motions, provide a global attractor to the desired reference trajectory. The scheme has been implemented and successfully evaluated on a radio-controlled vehicle. Results from experimental trials are reported.

This work was supported by the Swedish Foundation for Strategic Research through its Center for Autonomous Systems at the Royal Institute of Technology.

Corresponding author.

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Author information

Authors and Affiliations

  1. International School for Advanced Studies, SISSA-ISAS, via Beirut 4, 34014, Trieste, Italy

    Claudio Altafini

  2. Department of Signals, Sensors and Systems, Royal Institute of Technology, SE-10044, Stockholm, Sweden

    Alberto Speranzon & Karl Henrik Johansson

Authors
  1. Claudio Altafini
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  2. Alberto Speranzon
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  3. Karl Henrik Johansson
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Editor information

Editors and Affiliations

  1. Department of Aeronautics and Astronautics, Stanford University, 250 Durand Building MC4035, 94305-4035, Stanford, CA, USA

    Claire J. Tomlin

  2. Department of Computer Science, University of British Columbia, 201-2366 Main Mall, V6T1Z4, Vancouver BC, Canada

    Mark R. Greenstreet

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© 2002 Springer-Verlag Berlin Heidelberg

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Altafini, C., Speranzon, A., Johansson, K.H. (2002). Hybrid Control of a Truck and Trailer Vehicle. In: Tomlin, C.J., Greenstreet, M.R. (eds) Hybrid Systems: Computation and Control. HSCC 2002. Lecture Notes in Computer Science, vol 2289. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45873-5_5

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  • DOI: https://doi.org/10.1007/3-540-45873-5_5

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-43321-7

  • Online ISBN: 978-3-540-45873-9

  • eBook Packages: Springer Book Archive

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