In this paper, we investigate the reverse motion of a car-trailer combination. The
single track model of the vehicle is used with quasi-static tire model to design a
simple linear feedback controller that can achieve stable reversing motion along a
straight path. The linear stability of the closed-loop system is analyzed by constructing
stability charts in the plane of the control gains. The effect of the reversing speed
of the vehicle on the stability is also shown. In order to validate the theoretical
results, laboratory experiments are carried out using a small-scale vehicle and a
conveyor belt.
