DocumentCode
1747291
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
Volume
1
fYear
2001
fDate
2001
Firstpage
169
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.932548
Filename
932548
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