Trajectory Control of a Vehicle with Triple Trailers

Abstract

We consider the backing up control of a vehicle with triple trailers via a model-based fuzzy control methodology. To begin with, the vehicle dynamics is represented by a Takagi-Sugeno fuzzy model which is equivalent to a simplified nonlinear model of the vehicle. Then we employ the so-called “parallel distributed compensation” design to arrive at a controller that guarantees the stability of the closed-loop system consisted of the fuzzy model and controller. The control design problem is cast in terms of linear matrix inequalities. The simulation and experimental results demonstrate that the fuzzy controller effectively achieves the backing up control of the vehicle with triple trailers.