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Cited by 21Vehicle Dynamics and Control SystemsControl and Dynamics of Mobile RobotsDynamics and Control of Mechanical Systems

The DOI matches its Crossref record.

Constrained Backward Path Tracking Control using a Plug-in Jackknife Prevention System for Autonomous Tractor-Trailers

Hejase, Mohammad, Jing, Junbo, Maroli, John M., Bin Salamah, Yasser, Fiorentini, Lisa, Ozguner, Umit·2018·2018 21st International Conference on Intelligent Transportation Systems (ITSC)
DOI 10.1109/itsc.2018.8569262
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Abstract

Jackknifing during tractor-trailer reverse driving presents a major challenge in control system design. In this paper, maneuverability conditions were explicitly derived for tractor-trailer systems that are hitched off-axle. A control safety governor was designed and constructed to guarantee that the system stays within the derived maneuverability conditions under steering rate constraints using any controller. The control safety governor is decoupled from the controller so that it can be used in a plug-in fashion with minimal interference. The performance of the designed system was tested for a neural network controller on an increasingly rigorous path with introduced discontinuities. Results show that the system was able to successfully track the path without jackknifing. The novelty of this work lies in providing a solution that is capable of guaranteeing jackknife prevention for any reverse path tracking controller for tractor-trailer systems.

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Research works printed but not linked: 18

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  2. 10.1109/WCICA.2010.5554359 · DOI
  3. 10.1016/j.compag.2011.12.009 · DOI
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  14. cheng, 2017, Backward path tracking control for mobile robot with three trailers, International Conference on Neural Information Processing, 32
  15. 10.1109/FSKD.2009.325 · DOI
  16. 10.1109/ICRA.2011.5979918 · DOI
  17. 10.1109/TIE.2015.2455016 · DOI
  18. 10.1007/978-3-540-75404-6_45 · DOI

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Metadata

Authors
Hejase, M., Jing, J., Maroli, J. M., Bin Salamah, Y., Fiorentini, L., & Ozguner, U.
Affiliations
The Ohio State University (US)
ORCID
Maroli, John M.
Venue
2018 21st International Conference on Intelligent Transportation Systems (ITSC)
Publisher
IEEE
Published
2018-11
Pages
2012-2017
DOI
10.1109/itsc.2018.8569262
OpenAlex
W2904099029
Cited by
21
References
0
Citations by year
2026: 1 · 2025: 2 · 2024: 4 · 2023: 3 · 2022: 1 · 2021: 6 · 2020: 3 · 2019: 1
FWCI
2.56
Type
conference paper
Language
en
Open access
closed
Locations
IEEE International Conference on Intelligent Transportation Systems (ITSC) (publishedVersion)
Topics
  • Physical Sciences › Engineering › Automotive Engineering › Vehicle Dynamics and Control Systems
  • Physical Sciences › Engineering › Control and Systems Engineering › Control and Dynamics of Mobile Robots
  • Physical Sciences › Engineering › Control and Systems Engineering › Dynamics and Control of Mechanical Systems
Keywords
tractor-trailers, autonomous vehicles, neural network controller, trajectory tracking

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