MATLAB project to display and control a trailer going backwards.
- Alfredo Hernández, [email protected]
- David Massip, [email protected]
- Martí Municoy, [email protected]
- Jan-Hendrik Niemann, [email protected]
Backing up a car can sometimes be a stressful experience. When you have something attached to your car, it gets even more nerve-racking. The problem is that the motion control while moving forward is stable, while reversing the motion is unstable.
We think that our problem is mainly a control theory based problem. The aim is to design a controller for the system to drive the state ɸ to the wished state by changing the steering angle δ. We have constructed a linear controller which applies to the nonlinear model.
To run the simulation script, run main.m on MATLAB or Octave (although it may not have some of the required functions; it has not been tested).
- [1] Nilsson, J., Abraham, S. (2013). Trailer Parking Assist (TPA) (Doctoral dissertation). Chalmers University of Technology