Path Tracking of Articulated Vehicles in Backward Motion

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.