Exponential stabilization of a car with n trailers

Author

Sordalen, O.J. ; Wichlund, K.Y.

Author_Institution

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

fYear

1993

fDate

15-17 Dec 1993

Firstpage

978

Abstract

It is shown how a class of two-input nonholonomic systems can be converted into a chained form. This is used to convert a car with n trailers into a chained form. The position of the system is given by the location of the last trailer. A time-varying feedback control law for the stabilization of a chained form with exponential convergence to the origin is presented. A coordinate transformation and input feedback transformation is derived to obtain asymptotic stability with exponential convergence to any desired configuration, locally in the orientations of the trailers. Simulation results are presented for a car with three trailers

Keywords

convergence; feedback; kinematics; mobile robots; nonlinear control systems; stability; time-varying systems; asymptotic stability; car; chained form; coordinate transformation; exponential convergence; exponential stabilization; input feedback transformation; time-varying feedback control law; trailers; two-input nonholonomic systems; Angular velocity; Asymptotic stability; Axles; Control systems; Controllability; Convergence; Cybernetics; Feedback control; Kinematics; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on

Conference_Location

San Antonio, TX

Print_ISBN

0-7803-1298-8

Type

conf

DOI

10.1109/CDC.1993.325331

Filename

325331