Abstract:
This paper presents the experimental results of the tracking control of a car-trailer system. The proposed scheme involves three steps: 1) generate a path off-line using ...Show MoreMetadata
Abstract:
This paper presents the experimental results of the tracking control of a car-trailer system. The proposed scheme involves three steps: 1) generate a path off-line using a path space iterative algorithm; 2) linearize the kinematic model about a trajectory which is constructed using the path; and 3) apply a time-varying linear quadratic regulator to track the trajectory. Experiments presented include parallel parking a car, docking a tractor-trailer vehicle, and parallel parking a double tractor-trailer vehicle.
Published in: IEEE Transactions on Control Systems Technology ( Volume: 5, Issue: 3, May 1997)
DOI: 10.1109/87.572125
Citations are not available for this document.
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