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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Altafini, C. |
| Copyright Year | 1998 |
| Description | Author affiliation: Div. of Optimization & Syst. Theory, R. Inst. of Technol., Stockholm, Sweden (Altafini, C.) |
| Abstract | The chained form is a useful canonical form to deal with systems with nonholonomic constraints. A typical example of a system that can be converted into chained form is the n-trailer problem, i.e. a car pulling n trailers. Here, we extend the class of n-trailer systems that can be transform into chained form in order to include the so-called general n-trailer problem in which one or more of the trailers have kingpin hitching. We show that a passive steering wheel can be placed in any of the off-hitching joints with the steering input calculated via nonlinear feedback from the configuration state. This is sufficient to assert that the general n-trailer problem can be converted into a multi-input chained form, with the new inputs obtained from the aforementioned feedback. |
| Starting Page | 3129 |
| Ending Page | 3130 |
| File Size | 180416 |
| Page Count | 2 |
| File Format | |
| ISBN | 0780343948 |
| ISSN | 01912216 |
| DOI | 10.1109/CDC.1998.757991 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1998-12-18 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Axles Wheels State feedback Constraint optimization Constraint theory Mobile robots Road transportation Kinematics State-space methods |
| Content Type | Text |
| Resource Type | Article |
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