• International Journal of Control, Automation, and Systems
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• v.2 no.3
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• pp.289-297
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• 2004

This paper deals with the design and control of passive multiple trailer systems for practical applications. Due to the cost and complexity of the trailer mechanism, passive systems are preferred to active systems in this research. The design and control objective is to minimize the trajectory tracking errors occurring in passive multiple trailers. Three sorts of passive trailer systems, off-hooked, direct-hooked, and three-point, are discussed in this paper. Trajectory tracking performance and stability issues under constant curvature reference trajectories are investigated for these three types. As well, various simulations and experiments have been performed for each type. It is shown that the proposed off-hooked trailer system produces a tracking performance that is superior to the others.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.11
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• pp.1831-1839
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• 2003

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.

• The Journal of Korea Robotics Society
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• v.5 no.4
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• pp.286-293
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• 2010

The trailer system offers efficiency of transportation capability. However, it is difficult to control the backward motion. It is an open loop unstable problem. To solve this problem, we are proposed the driver assistance system. Driver assistance system assists a driver to control the backward motion of trailer system as if forward motion. A driver only secure the rear view of last passive trailer, and select the control input to drive the last passive trailer. The driver assistance system converts the control input of the driver into velocity and steering angle of the vehicle using the inverse kinematics. It is possible by electronic control input devices and the rear view camera. Effectiveness of driving assistance system is verified by the simulation and the experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1190-1195
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• 2003

In this paper, it is shown how a robot with n passive trailers can be controlled in backward direction. When driving backward direction, a kinematic model of the system is represented highly nonlinear equations. The problem is formulated as a trajectory following problem, rather than control of independent generalized coordinates. Also, the state and input saturation problems are formulated as a trajectory generation problem. The trajectory is traced by a rear hinge point of the last trailer, and reference trajectories include line segments, circular shapes and rectangular turns. Experimental verifications were carried out with the PSR-2(public service robot $2^{nd}$ version) with three passive trailers. Experimental result showed that the backward motion control can be successfully carried out using the proposed control scheme.

• The Journal of Korea Robotics Society
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• v.4 no.4
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• pp.273-280
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• 2009

It is difficult to find a practical solution for the backward-motion control of a car-like mobile robot with n passive trailers. Unlike an omni-directional robot, a car-like mobile robot has nonholonomic constraints and limitations of the steering angle. For these reasons, the backward motion control problem of a car-like mobile robot with $n$ passive trailers is not trivial. In spite of difficulties, backing up a trailer system is useful for parking control. In this study, we proposed a mechanical alteration which is connecting $n$ passive trailers to the front bumper of a car to improve the backward motion control performance. Theoretical verification and simulations show that the backward-motion control of a general car with n passive trailers can be successfully carried out by using the proposed approach.