Control Design and Assessment for a Reversing Tractor–Trailer System Using a Cascade Controller

In recent years, control design for unmanned systems, especially a tractor–trailer system, has gained popularity among researchers. The emergence of such interest is caused by the potential reduction in cost and shortage of number of workers and labors. Two industries will benefit from the advanceme...

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Autores principales:	Abdullah Aldughaiyem, Yasser Bin Salamah, Irfan Ahmad
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	autonomous vehicles tractor–trailer cascade controller jackknifing reversing Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
Acceso en línea:	https://doaj.org/article/da45029c067a4f98ab9fcf4c7ddf28b8
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id	oai:doaj.org-article:da45029c067a4f98ab9fcf4c7ddf28b8
record_format	dspace
spelling	oai:doaj.org-article:da45029c067a4f98ab9fcf4c7ddf28b82021-11-25T16:33:27ZControl Design and Assessment for a Reversing Tractor–Trailer System Using a Cascade Controller10.3390/app1122106342076-3417https://doaj.org/article/da45029c067a4f98ab9fcf4c7ddf28b82021-11-01T00:00:00Zhttps://www.mdpi.com/2076-3417/11/22/10634https://doaj.org/toc/2076-3417In recent years, control design for unmanned systems, especially a tractor–trailer system, has gained popularity among researchers. The emergence of such interest is caused by the potential reduction in cost and shortage of number of workers and labors. Two industries will benefit from the advancements of these types of systems: agriculture and cargo. By using the unmanned tractor–trailer system, harvesting and cultivating plants will become a safe and easy task. It will also cause a reduction in cost which in turn reduces the price on the end consumers. On the other hand, by using the unmanned tractor–trailer system in the cargo industry, shipping cost and time for the item delivery will be reduced. The work presented in this paper focuses on the development of a path tracking and a cascaded controller to control a tractor–trailer in reverse motion. The path tracking controller utilizes the Frenet–Serret frame to control the kinematics of the tractor–trailer system on a desired path, while the cascade controller’s main objective is to stabilize the system and to perform commands issued by the path tracker. The controlled parameters in this proposed design are the lateral distance to a path, trailer’s heading angel, articulated angel, and articulated angle’s rate. The main goal of such controller is to follow a path while the tractor–trailer system is moving in reverse and controlling the stability of the articulated vehicle to prevent the occurrence of a jackknife incident (uncontrolled state). The proposed controller has been tested in a different scenario where a successful implementation has been shown.Abdullah AldughaiyemYasser Bin SalamahIrfan AhmadMDPI AGarticleautonomous vehiclestractor–trailercascade controllerjackknifingreversingTechnologyTEngineering (General). Civil engineering (General)TA1-2040Biology (General)QH301-705.5PhysicsQC1-999ChemistryQD1-999ENApplied Sciences, Vol 11, Iss 10634, p 10634 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	autonomous vehicles tractor–trailer cascade controller jackknifing reversing Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
spellingShingle	autonomous vehicles tractor–trailer cascade controller jackknifing reversing Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 Abdullah Aldughaiyem Yasser Bin Salamah Irfan Ahmad Control Design and Assessment for a Reversing Tractor–Trailer System Using a Cascade Controller
description	In recent years, control design for unmanned systems, especially a tractor–trailer system, has gained popularity among researchers. The emergence of such interest is caused by the potential reduction in cost and shortage of number of workers and labors. Two industries will benefit from the advancements of these types of systems: agriculture and cargo. By using the unmanned tractor–trailer system, harvesting and cultivating plants will become a safe and easy task. It will also cause a reduction in cost which in turn reduces the price on the end consumers. On the other hand, by using the unmanned tractor–trailer system in the cargo industry, shipping cost and time for the item delivery will be reduced. The work presented in this paper focuses on the development of a path tracking and a cascaded controller to control a tractor–trailer in reverse motion. The path tracking controller utilizes the Frenet–Serret frame to control the kinematics of the tractor–trailer system on a desired path, while the cascade controller’s main objective is to stabilize the system and to perform commands issued by the path tracker. The controlled parameters in this proposed design are the lateral distance to a path, trailer’s heading angel, articulated angel, and articulated angle’s rate. The main goal of such controller is to follow a path while the tractor–trailer system is moving in reverse and controlling the stability of the articulated vehicle to prevent the occurrence of a jackknife incident (uncontrolled state). The proposed controller has been tested in a different scenario where a successful implementation has been shown.
format	article
author	Abdullah Aldughaiyem Yasser Bin Salamah Irfan Ahmad
author_facet	Abdullah Aldughaiyem Yasser Bin Salamah Irfan Ahmad
author_sort	Abdullah Aldughaiyem
title	Control Design and Assessment for a Reversing Tractor–Trailer System Using a Cascade Controller
title_short	Control Design and Assessment for a Reversing Tractor–Trailer System Using a Cascade Controller
title_full	Control Design and Assessment for a Reversing Tractor–Trailer System Using a Cascade Controller
title_fullStr	Control Design and Assessment for a Reversing Tractor–Trailer System Using a Cascade Controller
title_full_unstemmed	Control Design and Assessment for a Reversing Tractor–Trailer System Using a Cascade Controller
title_sort	control design and assessment for a reversing tractor–trailer system using a cascade controller
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/da45029c067a4f98ab9fcf4c7ddf28b8
work_keys_str_mv	AT abdullahaldughaiyem controldesignandassessmentforareversingtractortrailersystemusingacascadecontroller AT yasserbinsalamah controldesignandassessmentforareversingtractortrailersystemusingacascadecontroller AT irfanahmad controldesignandassessmentforareversingtractortrailersystemusingacascadecontroller
_version_	1718413170441191424

Control Design and Assessment for a Reversing Tractor–Trailer System Using a Cascade Controller

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