Title :
A direct Lyapunov approach for tracking control of mobile robot with two on-axle hitching trailers
Author :
Jin Cheng ; Yong Zhang ; Zhonghua Wang
Author_Institution :
Sch. of Electr. Eng., Univ. of Jinan, Jinan, China
Abstract :
The control problems for mobile robot with two trailers in backward motion are much more challenging due to the existence of the kinematic constraint between the tractor and trailers. A direct Lyapunov method is designed to reverse the mobile robot stably from any given configuration to a circular trace. Stability of the closed loop feedback system is proved with Lyapunov theory on stability and numeric simulation is implemented to illustrate the effectiveness of the proposed control approach.
Keywords :
Lyapunov methods; closed loop systems; feedback; mobile robots; robot kinematics; stability; closed loop feedback system; direct Lyapunov approach; kinematic constraint; mobile robot tracking control; on-axle hitching trailers; stability; tractor; Agricultural machinery; Kinematics; Lyapunov methods; Mobile robots; Planning; Trajectory; Lyapunov method; feedback stabilization; on-axle hitching; two trailers;
Conference_Titel :
Control and Decision Conference (CCDC), 2015 27th Chinese
Conference_Location :
Qingdao
Print_ISBN :
978-1-4799-7016-2
DOI :
10.1109/CCDC.2015.7162515
