Guidance of a Robotic Off-Road Tractor-Trailer System Using Model Predictive Control. Salmon, J. T., Bevly, D. M., & Hung, J. Y. In Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control, pages V003T47A001, Palo Alto, California, USA, October, 2013. American Society of Mechanical Engineers. ![Guidance of a Robotic Off-Road Tractor-Trailer System Using Model Predictive Control [link]](https://bibbase.org/img/filetypes/link.svg "link")
Paper doi abstract bibtex This paper presents a nonlinear Model Predictive Control approach to controlling a tractor-trailer system. Using a nonlinear tractor-trailer model, the controller determines the optimal steer angle, based on the trailer’s measured position and heading, as well as information about the path geometry in front of it. Then, the computer determines the amount of voltage to apply to the steering wheel motor to achieve the necessary steer angle. In the simulation study, the controller algorithm is capable of guiding a 2-1/2 meter long trailer around a 5-meter radius turn, towed by a four wheel drive off-road utility vehicle, with a maximum error of 8.5 centimeters.
@inproceedings{salmon_guidance_2013,
address = {Palo Alto, California, USA},
title = {Guidance of a {Robotic} {Off}-{Road} {Tractor}-{Trailer} {System} {Using} {Model} {Predictive} {Control}},
isbn = {978-0-7918-5614-7},
url = {https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2013/56147/Palo%20Alto,%20California,%20USA/228870},
doi = {10.1115/DSCC2013-3858},
abstract = {This paper presents a nonlinear Model Predictive Control approach to controlling a tractor-trailer system. Using a nonlinear tractor-trailer model, the controller determines the optimal steer angle, based on the trailer’s measured position and heading, as well as information about the path geometry in front of it. Then, the computer determines the amount of voltage to apply to the steering wheel motor to achieve the necessary steer angle. In the simulation study, the controller algorithm is capable of guiding a 2-1/2 meter long trailer around a 5-meter radius turn, towed by a four wheel drive off-road utility vehicle, with a maximum error of 8.5 centimeters.},
urldate = {2024-06-20},
booktitle = {Volume 3: {Nonlinear} {Estimation} and {Control}; {Optimization} and {Optimal} {Control}; {Piezoelectric} {Actuation} and {Nanoscale} {Control}; {Robotics} and {Manipulators}; {Sensing}; {System} {Identification} ({Estimation} for {Automotive} {Applications}, {Modeling}, {Therapeutic} {Control} in {Bio}-{Systems}); {Variable} {Structure}/{Sliding}-{Mode} {Control}; {Vehicles} and {Human} {Robotics}; {Vehicle} {Dynamics} and {Control}; {Vehicle} {Path} {Planning} and {Collision} {Avoidance}; {Vibrational} and {Mechanical} {Systems}; {Wind} {Energy} {Systems} and {Control}},
publisher = {American Society of Mechanical Engineers},
author = {Salmon, James T. and Bevly, David M. and Hung, John Y.},
month = oct,
year = {2013},
pages = {V003T47A001},
}
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