Yevgen Sklyarenko, Frank Schreiber, Walter Schumacher
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Maneuvering assistant for truck and trailer combinations with arbitrary trailer hitching
Stabilizing controllers can assist the driver to safely maneuver of truck and trailer combinations like the EuroCombis. This paper presents a novel nonlinear controller for combinations of a nonholonomic tractor car with two semi-trailers based upon a instantaneous approximation of the vehicle kinematics, an exact input-state linearization technique and a model-reference control scheme. The main advantage of the suggested controller is its universality, as it can be applied to truck and trailer combinations with an arbitrary hitching offset as well as in both driving directions. Convergence and robustness properties of the proposed controller have been validated by series of simulations and experiments with a combination, which possesses one off-axle and one on-axle joint. The presented method can also be extended to other truck and trailer combinations.
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