Orienting Head-Truck in the Design of Truck-Trailer Path Following Control

摘要

A method for determining the control algorithm for a truck-trailer system following a certain path is proposed. The control design for path following control of a truck-trailer system is divided into three steps, which are orienting the head-truck, backstepping the steering angle, and position control of steering angle. In the orienting head-truck, the head-truck serves as the steering direction of a truck-trailer system. By designing the orienting head-truck algorithm that, the truck-trailer body is driven to be aligned with the tangent of path-curve. From the orienting head-truck algorithm, a backstepping method is utilized to implement the steering angle control. Then, the position control to set the steering angle to the desired one which is calculated by the steering control. By using this method, the stability of the origin of the distance and orientation error is proven by the Lyapunov method. Simulation results of truck trailer following a rectangular path is performed, showing the effectiveness of the proposed method.