抄録
This paper describes the control of multi-articulated vehicles in a backward maneuver, which have been almost ignored to date. First, the equations of multi-articulated vehicle motion in a backward maneuver were obtained by the geometrical method. By experiment, it was found that their behavior at a low speed could be treated geometrically. Next, the controllability of articulated vehicles in this maneuver were studied theoretically with modern control methods. With the optimal control theory, the steering of these maneuvers was studied. These analyses provided the feed-back coefficients of each state value of multi-articulated vehicles and also the effects of design parameters for these coefficients. Finally, the control limit was studied with the limit value of steering angle.
