Path following for a tractor-trailer system using sliding mode control
WU Tong
XU Gong-xian
Abstract：The tractor-trailer system has been widely used with the development of computer and navigation technology. To solve the path following problem of the system, a sliding mode controller is presented based on a kinematic model. Because of the constraints of actuator performance, chatter usually happens. In this paper, an integrator is added to filter the high-frequency signal to get smooth control effort. When the angle between the tractor and trailer is large, the wheels of the trailer may stop rolling, which causes potential danger. A switching control law is designed to make the angle stay in the given interval. Simulation results show that the system has good performance when disturbance is considered.
Keywords：tractor-trailer systemsliding mode controlpath followingchatter deduction
Publication Date：2016-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：5( 172-176 )