2 papers
cs.RO2025
Optimization-Based Trajectory Planning for Tractor-Trailer Vehicles on Curvy Roads: A Progressively Increasing Sampling Number Method
Zehao Wang, Han Zhang, Jingchuan Wang +1
In this work, we propose an optimization-based trajectory planner for tractor-trailer vehicles on curvy roads. The lack of analytical expression for the trailer's errors to the cen…
eess.SY2023
K-BMPC: Derivative-based Koopman Bilinear Model Predictive Control for Tractor-Trailer Trajectory Tracking with Unknown Parameters
Zehao Wang, Han Zhang, Jingchuan Wang
Nonlinear dynamics bring difficulties to controller design for control-affine systems such as tractor-trailer vehicles, especially when the parameters in the dynamics are unknown.…