2006 Volume 68 Issue 1 Pages 111-118
This paper presented an optimal control scheme for backward maneuver of a tractor-trailer vehicle along a curved path. A linear quadratic regulator (LQR) was designed to track the tractor-trailer vehicle along the reference path given in advance. The tests of tracking the circular and sinusoidal paths were carried out, and the adaptability of the designed controller was verified. Consequently, 1) By feedback control, the designed optimal regulator was able to stabilize the unstable tractor-trailer vehicle to follow curved paths; 2) The path-tracking accuracy was greatly affected by the curvature of the reference path and the velocity.
