A Novel EPT Autonomous Motion Control Framework for an Off-Axle Hitching Tractor-Trailer System With Drawbar

A tractor-trailer system is an underactuated system that is subject to nonholonomic constraints and exhibits extremely nonlinear behaviors. Its trajectory planning and control issues remain widely researched. In this paper, on the basis of establishing a precise kinematic model, a novel method is proposed to realize autonomous motion control of an off-axle hitching tractor-trailer system with a dr...