Title :
Nonlinear feedback and robust tracking control of articulated vehicles
Author :
Bin Jiang ; Liu, Xiaoping ; Qi, Xin ; Zhang, Siying
Author_Institution :
Dept. of Autom. Control, Northeaster Univ., Shenyang, China
Abstract :
In this paper, firstly, the nonlinear system equations including explicit output equations which describe the articulated vehicles with double trailers are given, nonlinear feedback and diffeomorphic transformation techniques based on differential geometry theory are then applied to totally linearize the nonlinear model. Finally, the PD controller and variable structure compensator are designed for the linear system. Results from a simulation are used to illustrate the efficacy of the method
Keywords :
compensation; control system synthesis; differential geometry; feedback; linear systems; linearisation techniques; mobile robots; nonlinear control systems; tracking; two-term control; variable structure systems; PD controller; articulated vehicles; diffeomorphic transformation techniques; differential geometry theory; double trailers; explicit output equations; linear system; nonlinear feedback; robust tracking control; variable structure compensator; Compensation; Differential geometry; Linear systems; Mobile robots; Nonlinear systems; Output feedback; Proportional control; Tracking; Variable structure systems;
Conference_Titel :
Control Applications, 1994., Proceedings of the Third IEEE Conference on
Conference_Location :
Glasgow
Print_ISBN :
0-7803-1872-2
DOI :
10.1109/CCA.1994.381417
