Title :
Straight-line path following control of off-axle tractor-trailers
Author :
Yu, Liu ; Baoli, Ma
Author_Institution :
Sch. of Autom. Sci. & Electr. Eng., Beihang Univ., Beijing, China
Abstract :
The straight-line path following problem of off-axle tractor-trailers is investigated in this work. First, the robust relative degree approach is used to convert the error model to a linear time-varying one approximately, and then three path-following control laws are constructed based on back-stepping and Lyapunov approaches, guaranteeing asymptotic convergence of the tractor-trailer to the desired straight-line path provided the linear velocity of the tractor is bounded and not convergent to zero. Simulation results show the effectiveness of the proposed control schemes.
Keywords :
Lyapunov methods; agricultural machinery; control nonlinearities; road vehicles; Lyapunov approaches; asymptotic convergence; back-stepping approaches; error model; linear time-varying model; off-axle tractor-trailers; path-following control laws; robust relative degree approach; straight-line path following control; straight-line path following problem; tractor linear velocity; Abstracts; Automation; Convergence; Educational institutions; Electrical engineering; Electronic mail; Robustness; Off-axle tractor-trailers; back-stepping design; robust relative degree; straight-line path following;
Conference_Titel :
Control Conference (CCC), 2012 31st Chinese
Conference_Location :
Hefei
Print_ISBN :
978-1-4673-2581-3
