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Summary: SUBMITTED TO IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, JANUARY 2001; REVISED MAY 2001, AND AUG 2001 1
A feedback control scheme for reversing a truck
and trailer vehicle
Claudio Alta ni, Alberto Speranzon and Bo Wahlberg
Abstract|A control scheme is proposed for stabilization of
backward driving along simple paths for a miniaturized ve-
hicle composed of a truck and a two-axle trailer. The paths
chosen are straight lines and arcs of circles. When revers-
ing, the truck and trailer under exam can be modeled as an
unstable nonlinear system with state and input saturations.
The simpli ed goal of stabilizing along a trajectory (instead
of a point) allows to consider a system with controllable
linearization. Still, the combination of instability and satu-
rations makes the task impossible with a single controller.
In fact, the system cannot be driven backward from all ini-
tial states because of the jack-knife e ects between the parts
of the multibody vehicle, sometimes it is necessary to drive
forward to enter in a speci c region of attraction. This leads
to the use of hybrid controllers. The scheme has been imple-
mented and successfully used to reverse the radio-controlled
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