Title :
Backward Path-following Control of Mobile Robots with Trailers
Author :
Wei Huo ; Zuan Cheng
Author_Institution :
Seventh Res. Div., Beijing Univ. of Aeronautica & Astronaut., China
Abstract :
The backward movement control for a mobile robot with n trailers to follow a given path is investigated in this paper. First, the iterative inverse velocity relationship for the robot-trailer system with off-axle hitching is derived. By the use of the control design scheme based on inverse velocity relationship and output-feedback linearization method, two backward path-following control laws are presented for different task requirements and the convergence of closed-loop systems is analyzed. Experiment result demonstrates effectiveness of the proposed method.
Keywords :
closed loop systems; control system synthesis; feedback; linearisation techniques; mobile robots; motion control; path planning; backward movement control; backward path tracking; backward path-following control; closed-loop systems; iterative inverse velocity relationship; mobile robots; off-axle hitching; output-feedback linearization; robot-trailer system control; Argon; Control design; Control systems; Convergence; IEEE catalog; Mobile robots; Robot control; TV; Velocity control; backward path tracking; path-following control; robot-trailer system control; trailers with off-axle hitching;
Conference_Titel :
Control Conference, 2006. CCC 2006. Chinese
Conference_Location :
Harbin
Print_ISBN :
7-81077-802-1
DOI :
10.1109/CHICC.2006.280758
