Conversion of the kinematics of a car with n trailers into a chained form

Author

Sørdalen, O.J.

Author_Institution

Div. of Eng. Cybern., Norwegian Inst. of Technol., Trondheim, Norway

fYear

1993

fDate

2-6 May 1993

Firstpage

382

Abstract

The authors propose a set of coordinates for the kinematics model of a car with n trailers with only two degrees of freedom. The absolute position of the system is given by the location of the rear trailer. By using these coordinates, the kinematic model is locally converted into a nilpotent, chained form. Control strategies for chained systems can be applied to locally control a car with n trailers

Keywords

control system analysis; kinematics; position control; chained form; chained systems; kinematics; position control; trailers; Control systems; Controllability; Convergence; Cybernetics; Electronic mail; Feedback; Kinematics; Open loop systems; Time varying systems; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.292011

Filename

292011

Link To Document

https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1864632