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Control design to model parking a trailer
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README.md

Trailer Parking Controller

MATLAB project to display and control a trailer going backwards.

Authors

Problem description

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.

Instructions

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).

References

  • [1] Nilsson, J., Abraham, S. (2013). Trailer Parking Assist (TPA) (Doctoral dissertation). Chalmers University of Technology
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