Abstract
This paper presents a method of man-machine system to help a driver to steer an agricultural tractor-trailer system, in which the tractor has a hitching bar. Since backing-up motion of the tractor-trailer system is unstable, steering the system backwards tends to be a difficult task. Consequently, a skilled driver is required. The objective of the proposed method is to enable a driver to steer the tractor-trailer system backwards as though the driver steered only the tractor. The feedback control is designed simply. A wheel joystick is used to specify a desired orientation of the tractor-trailer system. The performance of the control system is examined through computer simulations using a kinematic model of the tractor-trailer system. Simulation results confirm that the proposed method is able to help a driver to steer the tractor-trailer system to the given orientations as intended.
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