Tractor-trailer vehicles are affected by jackknifing, a phenomenon that consists in the divergence of the trailer hitch angle and ultimately causes the vehicle to fold up. For the case of backward motions, in which jackknifing can occur at any speed, we present a control method that drives the vehicle along generic reference Cartesian trajectories while avoiding the divergence of the hitch angle. This is obtained thanks to a feedback control law that combines two actions: a tracking term, computed using input-output linearization, and a corrective term, generated via IS-MPC, an intrinsically stable MPC scheme which is effective for stable inversion of non-minimum phase systems. The successful performance of the proposed anti-jackknifing control is verified through simulations and experiments on a purposely built one-trailer prototype. To show the generality of the approach, we also apply and test the proposed method on a two-trailer vehicle.

An Intrinsically Stable MPC Approach for Anti-Jackknifing Control of Tractor-Trailer Vehicles / Beglini, Manuel; Belvedere, Tommaso; Lanari, Leonardo; Oriolo, Giuseppe. - In: IEEE/ASME TRANSACTIONS ON MECHATRONICS. - ISSN 1083-4435. - 27:6(2022), pp. 4417-4428. [10.1109/TMECH.2022.3154295]

An Intrinsically Stable MPC Approach for Anti-Jackknifing Control of Tractor-Trailer Vehicles

Manuel Beglini;Tommaso Belvedere;Leonardo Lanari;Giuseppe Oriolo
2022

Abstract

Tractor-trailer vehicles are affected by jackknifing, a phenomenon that consists in the divergence of the trailer hitch angle and ultimately causes the vehicle to fold up. For the case of backward motions, in which jackknifing can occur at any speed, we present a control method that drives the vehicle along generic reference Cartesian trajectories while avoiding the divergence of the hitch angle. This is obtained thanks to a feedback control law that combines two actions: a tracking term, computed using input-output linearization, and a corrective term, generated via IS-MPC, an intrinsically stable MPC scheme which is effective for stable inversion of non-minimum phase systems. The successful performance of the proposed anti-jackknifing control is verified through simulations and experiments on a purposely built one-trailer prototype. To show the generality of the approach, we also apply and test the proposed method on a two-trailer vehicle.
2022
Autonomous vehicles; Automotive control; Predictive control; Trajectory tracking; Tractor-trailer systems
01 Pubblicazione su rivista::01a Articolo in rivista
An Intrinsically Stable MPC Approach for Anti-Jackknifing Control of Tractor-Trailer Vehicles / Beglini, Manuel; Belvedere, Tommaso; Lanari, Leonardo; Oriolo, Giuseppe. - In: IEEE/ASME TRANSACTIONS ON MECHATRONICS. - ISSN 1083-4435. - 27:6(2022), pp. 4417-4428. [10.1109/TMECH.2022.3154295]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1617125
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