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

fYear

2012

fDate

25-27 July 2012

Firstpage

4468

Lastpage

4473

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2012 31st Chinese

Conference_Location

Hefei

ISSN

1934-1768

Print_ISBN

978-1-4673-2581-3

Type

conf

Filename

6390711