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
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Tracking Control ,
- Trajectory Tracking Control ,
- Linear Quadratic Regulator ,
- Pulse Width ,
- Velocity Profile ,
- Lookup Table ,
- Path Planning ,
- Feasible Set ,
- Mobile Robot ,
- Final Configuration ,
- Feedforward Control ,
- Gradient Operator ,
- Steering Angle ,
- Trajectory Generation ,
- Front Wheel ,
- Nonholonomic ,
- Rear Axle ,
- Left Wheel ,
- Linear Time-varying Systems ,
- Shared Memory ,
- Linear Quadratic Regulator Controller ,
- Autonomous Mode ,
- Digital Pulse ,
- Optical Encoder ,
- Fourier Basis ,
- Hierarchy Of Controls ,
- Vehicle Wheel ,
- Pathfinding ,
- Inequality Constraints ,
- Forward Difference
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Tracking Control ,
- Trajectory Tracking Control ,
- Linear Quadratic Regulator ,
- Pulse Width ,
- Velocity Profile ,
- Lookup Table ,
- Path Planning ,
- Feasible Set ,
- Mobile Robot ,
- Final Configuration ,
- Feedforward Control ,
- Gradient Operator ,
- Steering Angle ,
- Trajectory Generation ,
- Front Wheel ,
- Nonholonomic ,
- Rear Axle ,
- Left Wheel ,
- Linear Time-varying Systems ,
- Shared Memory ,
- Linear Quadratic Regulator Controller ,
- Autonomous Mode ,
- Digital Pulse ,
- Optical Encoder ,
- Fourier Basis ,
- Hierarchy Of Controls ,
- Vehicle Wheel ,
- Pathfinding ,
- Inequality Constraints ,
- Forward Difference
