Lining-Up Stabilizers for Pusher and Puller Articulated Vehicles

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1196)


The paper presents a derivation, a local stability analysis, and a numerical validation of control systems with lining-up feedback stabilizers for two kinds of kinematic structures widely used for articulated vehicles in a transportation practice: the tractor-driven vehicle pulling a trailer with a steerable axle, and the wagon-driven vehicle pushing a non-driven prime-mover. Simulation results reveal effectiveness of the stabilizers for various motion strategies of the vehicles (backward, forward, and oscillatory). The stabilizers can be used in the intelligent articulated buses and tractor-trailer vehicles in a fully automated mode or as an advanced driver assistance system.


Pusher/puller articulated vehicle Tractor-trailer Kinematics Steerable wheels Lining-up control Intelligent vehicle 



The work was supported in part by the National Centre for Research and Development (NCBR), Poland, as a grant No. POIR.04.01.02-00-0081/17, and in part by the research subvention No. 0211/SBAD/911.


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Institute of Automatic Control and RoboticsPoznan University of TechnologyPoznańPoland

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