{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T01:31:05Z","timestamp":1760232665918,"version":"build-2065373602"},"reference-count":16,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2022,11,22]],"date-time":"2022-11-22T00:00:00Z","timestamp":1669075200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Kairos Autonomi"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Jackknifing refers to the serious situation where a vehicle-trailer system enters a jackknife state and the vehicle and trailer eventually collide if trailer operation is not corrected. This paper considers low speed trailer maneuvering typical of trailer backing. Jackknife state limits can vary due to sideslip caused by physical interaction between the vehicle, trailer, and environment. Analysis of a kinematic model considers sideslip at the vehicle and trailer wheels. Results indicate that vehicle-trailer systems should be divided into three categories based on the ratio of hitch length and trailer tongue length, each with distinct behaviors. The Long Trailer category may have no jackknifing state while the other two categories always have states leading to jackknifing. It is found that jackknife limits, which are the boundaries between the jackknifing state and the recoverable regions, can be divided into safe and unsafe limits. The latter of which must be avoided. Simulations and physical experiments support these results and provide insight about the implications of vehicle and trailer states with slip that lead to jackknifing. Simulations also demonstrate the benefit of considering these new slip-based jackknife limits in trailer backing control.<\/jats:p>","DOI":"10.3390\/robotics11060133","type":"journal-article","created":{"date-parts":[[2022,11,22]],"date-time":"2022-11-22T08:25:28Z","timestamp":1669105528000},"page":"133","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["The Effect of Sideslip on Jackknife Limits during Low Speed Trailer Operation"],"prefix":"10.3390","volume":"11","author":[{"given":"Zhe","family":"Leng","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, University of Utah, Salt Lake City, UT 84112, USA"}]},{"given":"Yue","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Utah, Salt Lake City, UT 84112, USA"}]},{"given":"Ming","family":"Xin","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Utah, Salt Lake City, UT 84112, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1736-2908","authenticated-orcid":false,"given":"Mark A.","family":"Minor","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Utah, Salt Lake City, UT 84112, USA"}]}],"member":"1968","published-online":{"date-parts":[[2022,11,22]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"329","DOI":"10.1109\/5326.704559","article-title":"Backing control problem of a mobile robot with multiple trailers: Fuzzy modeling and LMI-based design","volume":"28","author":"Tanaka","year":"1998","journal-title":"IEEE Trans. Syst. Man Cybern. Part C Appl. Rev."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"280","DOI":"10.1109\/TIE.2007.908522","article-title":"Nonholonomic Equivalent Disturbance Based Backward Motion Control of Tractor-Trailer with Virtual Steering","volume":"55","author":"Matsushita","year":"2008","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"915","DOI":"10.1109\/70.976025","article-title":"A feedback control scheme for reversing a truck and trailer vehicle","volume":"17","author":"Altafini","year":"2001","journal-title":"IEEE Trans. Robot. Autom."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Pradalier, C., and Usher, K. (2007, January 10\u201314). A simple and efficient control scheme to reverse a tractor-trailer system on a trajectory. 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Dyn."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"992","DOI":"10.1080\/00423114.2014.909944","article-title":"The critical hitch angle for jackknife avoidance during slow backing up of vehicle\u2013trailer systems","volume":"52","author":"Chiu","year":"2014","journal-title":"Veh. Syst. Dyn."},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Jing, J., Maroli, J.M., Salamah, Y.B., Hejase, M., Fiorentini, L., and \u00d6zg\u00fcner, U. (2019, January 10\u201312). Control Method Designs and Comparisons for Tractor-Trailer Vehicle Backward Path Tracking. Proceedings of the 2019 American Control Conference (ACC), Philadelphia, PA, USA.","DOI":"10.23919\/ACC.2019.8815188"},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Aldughaiyem, A., Bin Salamah, Y., and Ahmad, I. (2021). Control design and assessment for a reversing tractor\u2013trailer system using a cascade controller. Appl. 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Field Robot."}],"container-title":["Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2218-6581\/11\/6\/133\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T01:24:15Z","timestamp":1760145855000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2218-6581\/11\/6\/133"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,11,22]]},"references-count":16,"journal-issue":{"issue":"6","published-online":{"date-parts":[[2022,12]]}},"alternative-id":["robotics11060133"],"URL":"https:\/\/doi.org\/10.3390\/robotics11060133","relation":{},"ISSN":["2218-6581"],"issn-type":[{"type":"electronic","value":"2218-6581"}],"subject":[],"published":{"date-parts":[[2022,11,22]]}}}