SYNTHESIS OF THE LAWS GOVERNING THE NON-HOLONOMIC MODEL OF A TWO-LINK ROAD TRAIN WITH REVERSE MOTION (OFF-AXLE HITCHING MODEL)

Dmitry Tatievskyi

Abstract


The complexity of the control of the road train is due to the pronounced nonlinearities, as well as the instability of the control object during the movement in the backward motion (jackknifing). For the road trains, the location of the towing device behind the tractor's rear axle is quite typical. In this study, a synthesis of control laws for road trains with offset of coupling devices relative to the rear axle of the tractor (off-axle hitching) is proposed. The controllers have been implemented both to ensure a stable circular motion and for rectilinear motion with a given orientation angle, and the behavioral features of this model have been studied on the basis of them.

Based on the analysis of the approaches to the synthesis of the laws governing the road train with the coupling out, it was decided to synthesize the required control laws using the Lyapunov function method.

Synthesized controllers can be directly used to program the robotic systems of the respective models. It is also possible to use them for the development of the Dubins machine for the investigated model. They can be used to build automatic control systems that would help the driver to drive a car with a trailer while driving backward.

In this research, a study was made of the state of the solution of the problem associated with the reverse movement of a road train consisting of a tractor and a semitrailer with a coupling, synthesized laws made it possible to study the features of such model, determined by its linear dimensions.

For comparison of the synthesized laws, the analysis of phase portraits of trajectories, angles of folding and control, orientation angles was carried out, and also the analysis of the quality of transient processes with the change in the speed of the road train was performed.

Keywords


road train; kinematic model; on-axle hitching; off-axis hitching; route curve; controller; non-holonomic system; control law

Full Text:

PDF

References


Bolzern, P., DeSantis, R. M., Locatelli, A., Masciocchi, D. (1998). Path-tracking for articulated vehicles with off-axle hitching. IEEE Transactions on Control Systems Technology, 6 (4), 515–523. doi: 10.1109/87.701346

Altafini, C. (2003). Path following with reduced off-tracking for multibody wheeled vehicles. IEEE Transactions on Control Systems Technology, 11 (4), 598–605. doi: 10.1109/tcst.2003.813374

Murray, R. M., Sastry, S. S. (1993). Nonholonomic motion planning: steering using sinusoids. IEEE Transactions on Automatic Control, 38 (5), 700–716. doi: 10.1109/9.277235

Fliess, M., Levine, J., Martin, P., Rouchon, P. (1995). Design of trajectory stabilizing feedback for driftless flat systems. Proc. 3rd European Control Conf. Rome, 1882–1887.

Rouchon, P., Fliess, M., Levine, J., Martin, P. (1993). Flatness and motion planning: the car with n trailers. Proceedings of the 32nd IEEE Conference on Decision and Control. Available at: http://cas.ensmp.fr/~rouchon/publications/PR1993/ECC93.pdf

Michalek, M. (2012). Application of the VFO method to set-point control for theN-trailer vehicle with off-axle hitching. International Journal of Control, 85 (5), 502–521. doi: 10.1080/00207179.2012.658524

Sklyarenko, E. G., Shumakher, V. (2010). Stabilizatsiya zadnego khoda avtopoezda s dvukhosnym pritsepom metodom linearizatsii obratnoy svyaz'yu po sostoyaniyu. Vіsn. Nats. tekhn. un-tu «KHPІ», 28, 275–278.

Cheng, J., Wang, B., Zhang, Y., Xu, Y. (2016). Backward Path Tracking Control for Mobile Robot with Three Trailers. China, 32–41. doi: 10.1007/978-3-319-70136-3_4

Evestedt, N., Ljungqvist, O., Axehill, D. (2016). Motion planning for a reversing general 2-trailer configuration using Closed-Loop RRT. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 3690–3697. doi: 10.1109/iros.2016.7759544

Ardentov, A. A. (2016). Controlling of a mobile robot with a trailer and its nilpotent approximation. Regular and Chaotic Dynamics, 21 (7-8), 775–791. doi: 10.1134/s1560354716070017

Martynyuk, A. A., Nikitina, N. V. (2018). O kachestvennom analize odnoy modeli transportnykh mashin. Prikladnaya mekhanika, 2, 110–115.

Dubins, L. E. (1957). On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents. American Journal of Mathematics, 79 (3), 497–516. doi: 10.2307/2372560

Lyapunov, A. M. (1956). Collected Papers. Vol. 2. Moskow: Izd. Akd. Nauk SSSR, 472.

Tatievskyi, D. (2017). The synthesis of steering rules for stabilizing road train reverse motion to solve the task of reaching a set goal. Technology Transfer: Fundamental Principles and Innovative Technical Solutions, 37–39. doi: 10.21303/2585-6847.2017.00482

Cariou, C., Lenain, R., Thuilot, B., Berducat, M. (2010). Autonomous maneuver of a farm vehicle with a trailed implement: motion planner and lateral-longitudinal controllers. 2010 IEEE International Conference on Robotics and Automation. Anchorage. doi: 10.1109/robot.2010.5509447

Lee, J.-H., Chung, W., Kim, M., Song, J.-B. (2004). A Passive Multiple Trailer System with Off-axle Hitching. International Journal of Control, Automation, and Systems, 2 (3), 289–297.




DOI: http://dx.doi.org/10.21303/2461-4262.2018.00592

Refbacks

  • There are currently no refbacks.




Copyright (c) 2018 Dmitry Tatievskyi

Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 International License.

ISSN 2461-4262 (Online), ISSN 2461-4254 (Print)