Anti-jackknife state feedback control law for nonholonomic vehicles with trailer sliding mechanism

摘要

The kinematic behaviour of a multi-trailer truck vehicle is an interesting issue, particularly in backward driving where the system is unstable. This paper presents a state feedback controller for a trailer system, consisting of a steering tractor and a passive trailer, linked with an active sliding-able free joint. The control law acts as an anti-jackknife stabilisator during backward motion, but can also incorporate off-tracking suppression during forward motion. Stability of backward motion is based on the concept of the kingpin sliding mechanism, where the sliding velocity is regulated by the controller. Performance of the controller is confirmed by simulation.