DocumentCode
724312
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
fYear
2015
fDate
23-25 May 2015
Firstpage
3429
Lastpage
3432
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Control and Decision Conference (CCDC), 2015 27th Chinese
Conference_Location
Qingdao
Print_ISBN
978-1-4799-7016-2
Type
conf
DOI
10.1109/CCDC.2015.7162515
Filename
7162515
Link To Document