A Strategy of Path Following Control for Multi-Steering Tractor-Trailer Mobile Robot

Author

Yuan, Jing ; Huang, Yalou ; Kang, Yewei ; Liu, Zuojun

Author_Institution

Coll. of Inf. Technol. & Sci., Nankai Univ., Tianjin City

fYear

2004

fDate

22-26 Aug. 2004

Firstpage

163

Lastpage

168

Abstract

Tractor-trailer mobile robot (TTMR) is a typical nonholonomic and nonlinear system. In this paper, circle path following control for multi-steering TTMR considering the motion characteristics of single-steering TTMR is investigated. Based on the recursive kinematic equations, a control strategy which uses nonlinear states feedback as control inputs and stabilizes the system exponentially is proposed. In our method, trailers equipped with steering devices are controlled to follow some specific circles such that the width of the road covered by the whole system decreases when the TTMR makes a turn. The stabilization and exponential convergence of the control laws are proved. Finally, simulations are presented and the experiment results show the validity and the effectiveness of our control laws

Keywords

asymptotic stability; control system synthesis; convergence; mobile robots; nonlinear systems; path planning; recursive estimation; state feedback; steering systems; circle path following control; control law; exponential convergence; exponential stability; multisteering tractor-trailer mobile robot; nonholonomic system; nonlinear states feedback; nonlinear system; recursive kinematic equation; Control systems; Convergence; Kinematics; Mobile robots; Motion control; Nonlinear control systems; Nonlinear equations; Nonlinear systems; Roads; State feedback; band-path; equivalent size; multi-steering tractor-trailer mobile robot; path following control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on

Conference_Location

Shenyang

Print_ISBN

0-7803-8614-8

Type

conf

DOI

10.1109/ROBIO.2004.1521770

Filename

1521770