Title :
Backward line tracking control of a radio-controlled truck and trailer
Author :
Altafini, Claudio ; Speranzon, Alberto
Author_Institution :
Div. of Optimization & Syst. Theory, R. Inst. of Technol., Stockholm, Sweden
Abstract :
A control scheme is proposed for the backward line tracking problem of a truck with trailer. It combines two different regulators, one for backward motion and the other for forward, in a switching scheme that assures convergence to the desired line. The scheme has been implemented and successfully used to reverse a radio-controlled vehicle.
Keywords :
feedback; kinematics; linearisation techniques; motion control; road vehicles; telecontrol; tracking; backward line tracking; convergence; feedback; kinematics; linearisation; motion control; radio-controlled vehicle; switching control; telecontrol; truck; Axles; Control systems; Differential equations; Kinematics; Logic design; Open loop systems; Radio control; Regulators; State feedback; Vehicles;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.932548
