The problem of path-tracking for an autonomous vehicle composed of a tractor and n−1 trailers with off-axle hitching is considered in this paper. It is shown that an input-output feedback linearization technique can be adopted both in forward and backward maneuvers, leading to the stabilization of the path-tracking offset dynamics about circular paths. The location of the guide-point needs to be selected according to the direction of motion, and, when moving backward, the off-axle distances must be all positive.

Issue Section:
Technical Papers
Keywords:
N-body problems, large-scale systems, linearisation techniques, feedback, stability, vehicles
Topics:
Dynamics (Mechanics), Vehicles, Control equipment, Design
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