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http://dx.doi.org/10.3795/KSME-A.2003.27.11.1831

Path following of the passive off-hooked trailer system  

Lee, Jae-Hyoung (KIST 지능로봇센터/ 고려대학교 기계공학과)
Park, Myoung-Kuk (고려대학교 기계공학과)
Chung, Woo-Jin (KIST 지능로봇센터)
Kim, Mun-Sang (KIST 지능로봇센터)
Song, Jae-Bok (고려대학교 기계공학과)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.27, no.11, 2003 , pp. 1831-1839 More about this Journal
Abstract
This paper deals with design and control of passive multiple trailer systems fer practical applications. Due to cost and complexity of trailer mechanism, passive systems are preferred to active systems in this research. The control objective is to minimize trajectory tracking errors of passive multiple trailers. Three types of passive trailer systems-direct-hooked, three-point, and off-hooked- are discussed in this paper. Trajectory tracking performance and stability issues under constant velocity motion are carried out for three types. Various simulations and experiments have been also performed for these three types. It is shown that the proposed off-hooked trailer system produces better tracking performance than the other types.
Keywords
Passive Trailer System; Trajectory Following; Stability Analysis;
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