Title :
Path tracking controller for a tractor with multiple trailers
Author :
Hashizume, Tomo ; Yaginuma, Ichiro ; Fujikawa, Hideji ; Yamada, Shin-ichi
Author_Institution :
Dept. of Electr. & Electron. Eng., Musashi Inst. of Technol., Tokyo, Japan
Abstract :
In this paper, the authors discuss an articulated vehicle robot consisting of one tractor and two trailers as actually used in industrial plants. Because of the articulated vehicle, one must consider the safety of the rear trailers. Therefore, the authors propose a new path tracking control system that can adjust velocity and steering angle by fuzzy reasoning and prediction as well as modify the steering angle with the margin of deviation for the safety of rear trailers
Keywords :
control system analysis; control system synthesis; fuzzy control; industrial robots; mobile robots; motion control; position control; safety; tracking; velocity control; articulated vehicle robot; control design; control simulation; control system; fuzzy prediction; fuzzy reasoning; multiple trailers; path tracking controller; safety; steering angle; tractor; velocity; Control systems; Fuzzy control; Mobile robots; Remotely operated vehicles; Robot control; Service robots; Vehicle driving; Vehicle safety; Velocity control; Wheels;
Conference_Titel :
Industrial Electronics, Control and Instrumentation, 1997. IECON 97. 23rd International Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-3932-0
DOI :
10.1109/IECON.1997.668493
