Differential-Flatness-Based Tracking Control for Tractor-Trailers in Reversing Maneuvers
Bo Yang, Zhenhao Zhuang, Zitian Yu, Qian Wang, Junqing Wei, Yilin Mo, Wen Yang
Abstract
In this paper, we propose a differential-flatness-based controller (DFBC) for precise trajectory tracking of tractor-trailers, particularly during reversing maneuvers, which are challenging due to unstable equilibrium points. The proposed controller leverages the differential flatness property of tractor-trailers, equivalently transforming the nonlinear kinematics into a brunovsky canonical form, allowing the application of linear control theory for control design. Compared to traditional linear quadratic regulator (LQR) controllers, the proposed DFBC method achieves higher precision and robustness in reversing maneuvers. We also showcase the performance of the proposed DFBC method through physical experiments conducted on our self-developed 1/10 scale autonomous tractor-trailer.
BibTeX
@inproceedings{iros2025_differentialflat,
title = {Differential-Flatness-Based Tracking Control for Tractor-Trailers in Reversing Maneuvers},
author = {Bo Yang and Zhenhao Zhuang and Zitian Yu and Qian Wang and Junqing Wei and Yilin Mo and Wen Yang},
booktitle = {IROS 2025},
year = {2025}
}