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
References is not available for this document.
Select All
2.
S. S. Sastry, R. M. Murray and Z. Li, A Mathematical Introduction to Robotic Manipulation, 1993.
3.
A. W. Divelbiss and J. T. Wen, "Nonholonomic path planning with inequality constraints", Proc. 32nd IEEE Conf. Decision Contr., Dec. 1993.
4.
Y. Kanayama, Y. Kimura, F. Miyazaki and T. Noguchi, "A stable tracking conotrol method for an autonomous mobile robot", Proc. 1990 IEEE Robotics Automat. Conf., pp. 384-389, May 1990.
5.
Frank L. Lewis, Optimal Control, 1986.
6.
A. W. Divelbiss, Nonholonomic motion planning in the presence of obstacles, Dec. 1993.
7.
A. Bryson and Y. C. Ho, Applied Optimal Control, 1975.
8.
E. D. Sontag, "Control of systems without drift via generic loops", IEEE Trans. Automat. Contr., vol. 40, pp. 1210-1219, July 1995.
9.
H. J. Sussmann, "A continuation method for nonholonomic path-finding problem", Proc. 32nd IEEE Conf. Decision Contr., pp. 2718-2723, Dec. 1993.
10.
G. Walsh Murray, R. M. Sastry and S. S. Sastry, "Stabilization and tracking for nonholonomic control systems using time-varying state feedback", Proc. IFAC Symp. Nonlinear Control System Design, pp. 1-6, 1992.
11.
J. Y. Wong, Theory of Ground Vehicles, 1978.
