Path Following Control of Tractor-trailers with Off-axle Hitching

Author

Huofeng, Zhou ; Baoli, Ma

Author_Institution

Beijing Univ. of Aeronaut. & Astronaut., Beijing

fYear

2007

Firstpage

283

Lastpage

286

Abstract

This paper investigates the geometric path following problem of mobile robot towing an off-axle trailers. First, the time-state linearization model of the tractor-trailer system is derived, then a dynamic feedback tracking control law is proposed based on internal model principle, guaranteeing all the states uniformly bounded and ultimately uniform bounded (BUUB) with the norm of final tracking error of the given trailer proportional to the squared norm of the desired external output signals. Simulation results show the effectiveness of the proposed control scheme.

Keywords

agricultural machinery; feedback; mobile robots; position control; tracking; dynamic feedback tracking control; geometric path following problem; internal model principle; mobile robot; off-axle hitching; path following control; time-state linearization model; tractor-trailer system; Aerodynamics; Error correction; Linear feedback control systems; Mathematical model; Mobile robots; Output feedback; Proportional control; State feedback; Linearization; Path following; Time-state model; Tractor-trailers with off-axle hitching; internal model principle;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference, 2007. CCC 2007. Chinese

Conference_Location

Hunan

Print_ISBN

978-7-81124-055-9

Electronic_ISBN

978-7-900719-22-5

Type

conf

DOI

10.1109/CHICC.2006.4346941

Filename

4346941