NDLI: A Strategy of Path Following Control for Multi-Steering Tractor-Trailer Mobile Robot

Content Provider	IEEE Xplore Digital Library
Author	Jing Yuan Yalou Huang Yewei Kang Zuojun Liu
Copyright Year	2004
Description	Author affiliation: Coll. of Inf. Technol. & Sci., Nankai Univ., Tianjin City (Jing Yuan; Yalou Huang; Yewei Kang; Zuojun Liu)
Abstract	Tractor-trailer mobile robot (TTMR) is a typical nonholonomic and nonlinear system. In this paper, circle path following control for multi-steering TTMR considering the motion characteristics of single-steering TTMR is investigated. Based on the recursive kinematic equations, a control strategy which uses nonlinear states feedback as control inputs and stabilizes the system exponentially is proposed. In our method, trailers equipped with steering devices are controlled to follow some specific circles such that the width of the road covered by the whole system decreases when the TTMR makes a turn. The stabilization and exponential convergence of the control laws are proved. Finally, simulations are presented and the experiment results show the validity and the effectiveness of our control laws
Sponsorship	IEEE Robotics and Autom. Soc. IEEE HK RA/CS Joint Chapter Chinese Acad. of Sci. Chinese High-tech Dev. Program Robotics Soc. of Japan Japan Soc. of Mech. Eng. Int. Rescue Syst. Inst
Starting Page	163
Ending Page	168
File Size	203275
Page Count	6
File Format	PDF
ISBN	0780386148
DOI	10.1109/ROBIO.2004.1521770
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-08-22
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Control systems Nonlinear control systems Nonlinear systems Motion control Kinematics Nonlinear equations State feedback Roads Convergence path following control band-path equivalent size multi-steering tractor-trailer mobile robot
Content Type	Text
Resource Type	Article

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