Anti-Jackknifing Control of Tractor-Trailer Vehicles via Intrinsically Stable MPC
It is common knowledge that tractor-trailer vehicles are affected by jackknifing, a phenomenon that consists in the divergence of the trailer hitch angle and ultimately causes the vehicle to fold up. For the case of backwards motion, in which jackknifing can also occur at low speeds, we present a control method that drives the vehicle along a reference Cartesian trajectory while avoiding the divergence of the hitch angle.