Title :
Point Stabilization of a Tactor-Trailer Mobile Robot
Author :
Yong, Zhang ; Jin, Cheng ; Xiaohua, Zhang
Author_Institution :
Sch. of Electr. Eng. & Autom., Harbin Inst. of Technol., Harbin
Abstract :
Point stabilization of a Tractor-Trailer Mobile Robot is addressed in this paper. Based on the transformed chained system, a discontinuous feedback control law with high order sliding mode method is proposed. Simulation is carried out to verify the control law and the results show that it can drive the system converge to the origin in finite time.
Keywords :
agricultural machinery; feedback; mobile robots; sampled data systems; stability; discontinuous feedback control law; finite time origins; sliding mode method; tractor-trailer mobile robot point stabilization; Automatic control; Control systems; Feedback control; Mobile robots; Robot control; Robot kinematics; Robotics and automation; Sliding mode control; Trajectory; Wheels; mobile robot; nonholonomic system; point stabilization; tractor-trailer;
Conference_Titel :
Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on
Conference_Location :
Hanoi
Print_ISBN :
978-1-4244-2286-9
Electronic_ISBN :
978-1-4244-2287-6
DOI :
10.1109/ICARCV.2008.4795791
