Mihályi, Levente and Takács, Dénes (2024) Investigating Reversing Motion of Truck-Semitrailer Along Clothoid Curve. LECTURE NOTES IN MECHANICAL ENGINEERING. pp. 686-692. ISSN 2195-4356
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Abstract
The focus of the research is on the most common transport vehicle, the truck-semitrailer combination. A single-track kinematic model is used, supplemented by the dynamics of the steering system, to design a linear state feedback controller for the low-speed path-following problem in reverse. Despite the significant time delay considered in our study, the linear stability of the system is ensured, even for complicated maneuvers. The advantages of the adaptive gain tuning method are presented based on simulations of the commonly used 90-degree alley dock. © The Author(s) 2024.
| Item Type: | Article |
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| Additional Information: | Conference code: 320919 Correspondence Address: Mihályi, L.; Department of Applied Mechanics, Műegyetem rkp. 3., Hungary; email: mihalyi@mm.bme.hu Funding details: Magyar Tudományos Akadémia, MTA Funding details: Nemzeti Kutatási Fejlesztési és Innovációs Hivatal, NKFIH, NKFI-146201, 2020-1.2.4-TET-IPARI-2021-00012 Funding text 1: The research reported in this paper was partly supported by the J\\u00E1nos Bolyai Research Scholarship of the Hungarian Academy of Sciences and by the National Research, Development and Innovation Office under grant no. NKFI-146201; and by 2020-1.2.4-TET-IPARI-2021-00012, and by the Foundation for Mechanical Engineering Education. |
| Uncontrolled Keywords: | truck-semitrailer, reverse maneuvering, time delay, pathfollowing |
| Subjects: | T Technology / alkalmazott, műszaki tudományok > TA Engineering (General). Civil engineering (General) / általános mérnöki tudományok T Technology / alkalmazott, műszaki tudományok > TJ Mechanical engineering and machinery / gépészmérnöki tudományok |
| SWORD Depositor: | MTMT SWORD |
| Depositing User: | MTMT SWORD |
| Date Deposited: | 19 Sep 2025 10:20 |
| Last Modified: | 19 Sep 2025 10:20 |
| URI: | https://real.mtak.hu/id/eprint/224620 |
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