Backing-up Fuzzy Control of a Truck-trailer Equipped with a Kingpin Sliding Mechanism

  • G. Siamantas
  • S. Manesis
Part of the IFIP International Federation for Information Processing book series (IFIPAICT, volume 296)


For articulated vehicles met in robotics and transportation fields, even for an experienced operator, backing-up leads usually to jack-knifing. This paper presents a fuzzy logic controller for back-driving a truck-trailer vehicle into a predefined parking task. The truck-trailer link system is equipped with a kingpin sliding mechanism acting as an anti-jackknife excitation input. By applying fuzzy logic control techniques, precise system model is not required. The developed controller with thirty four rules works well as the presented simulation results demonstrate the avoidance of jack-knife and the accuracy of the backing-up technique.


Membership Function Fuzzy Controller Fuzzy Logic Controller Steer Wheel Angle Develop Controller 
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Copyright information

© IFIP International Federation for Information Processing 2009

Authors and Affiliations

  • G. Siamantas
    • 1
  • S. Manesis
    • 1
  1. 1.Electrical & Computer Engineering Dept.University of PatrasPatrasGreece

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