On the Backward Path Tracking Control of N-Trailer Systems


  • Julius Kolb Fraunhofer Institute for Transportation and Infrastructure Systems IVI
  • Gunter Nitzsche
  • Sebastian Wagner Fraunhofer Institute for Transportation and Infrastructure Systems IVI
  • Klaus Röbenack Technische Universität Dresden




truck-trailer, articulated vehicle, backward motion, path tracking, nonlinear control, exact linearization, stabilization


This paper considers the lateral control of articulated wheeled vehicles in backward motion. The parameterized articulated vehicle is composed of a car-like truck and N passive trailers, resulting in one single steerable axle. First a nonlinear path tracking control law based on exact linearization of an offset model is reviewed and the general stability conditions of such systems is presented. Second, a stability analysis for some vehicle cases is performed and verified in simulation. The possible application of this path tracking control law in real world articulated vehicles is discussed, and its limitations are shown.


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How to Cite

“On the Backward Path Tracking Control of N-Trailer Systems”, Syst. Theor. Control Comput. J., vol. 1, no. 1, pp. 13–20, Jun. 2021, doi: 10.52846/stccj.2021.1.1.6.