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Path Tracking of Articulated Vehicles in Backward Motion

: Kolb, Julius; Nitzsche, Gunter; Wagner, Sebastian; Röbenack, Klaus


Barbulescu, L.-F. ; Institute of Electrical and Electronics Engineers -IEEE-:
24th International Conference on System Theory, Control and Computing, ICSTCC 2020. Proceedings : October 8-10, 2020, Sinaia, Romania, Online edition of the conference
Piscataway, NJ: IEEE, 2020
ISBN: 978-1-7281-9809-5
ISBN: 978-1-7281-9808-8
ISBN: 978-1-7281-9810-1
International Conference on System Theory, Control and Computing (ICSTCC) <24, 2020, Online>
Fraunhofer IVI ()
truck-trailer; articulated vehicle; backward motion; path tracking; non-linear control; exact linearization

Backward motion of articulated vehicles is a challenging task even for experienced drivers, since these systems are highly nonlinear and their movement is unstable. In this paper a review of the nonlinear path tracking control law based on exact linearization of a parameterized articulated vehicle composed of a car-like truck and N passive trailers is presented. Limitations of this path tracking procedure are discussed, particularly the automation of real world heavy goods articulated vehicles.