Title :
A comparative study of different solutions to the path-tracking problem for an articulated vehicle
Author :
Bolzern, Paolo ; Locatelli, Arturo
Author_Institution :
Dipt. di Elettronica e Informazione, Politecnico di Milano, Italy
Abstract :
This paper compares different strategies for the control of a 2-body articulated vehicle moving backward along a circular path. Some of these strategies have been recently developed by the authors in a nonlinear framework by exploiting feedback linearization and Lyapunov based techniques. A number of meaningful simulation experiments allow one to classify the relative merits and limitations of the considered control laws.
Keywords :
Lyapunov methods; control system synthesis; kinematics; linearisation techniques; nonlinear control systems; position control; road vehicles; vehicle dynamics; 2-body articulated vehicle; Lyapunov based techniques; articulated vehicle; backward motion; control laws; different strategies comparison; feedback linearization; kinematic model; nonlinear framework; path-tracking problem; simulation experiments; Agricultural machinery; Axles; Fuzzy control; Linear approximation; Linear feedback control systems; Lyapunov method; Mobile robots; Remotely operated vehicles; Stability; Wheels;
Conference_Titel :
Control Applications, 2002. Proceedings of the 2002 International Conference on
Print_ISBN :
0-7803-7386-3
DOI :
10.1109/CCA.2002.1040224
