Investigating Reversing Motion of Truck-Semitrailer Along Clothoid Curve

The focus of the research is on the most common transport vehicle, the truck-semitrailer combination. A single-track kinematic model is used, supplemented by the dynamics of the steering system, to design a linear state feedback controller for the low-speed path-following problem in reverse. Despite the significant time delay considered in our study, the linear stability of the system is ensured, even for complicated maneuvers. The advantages of the adaptive gain tuning method are presented based on simulations of the commonly used 90-degree alley dock.