Motion Control of Vehicles with Trailers Using Transverse Function Approach

被引：11

作者：

Pazderski, Dariusz ^{[1
]}

Waskowicz, Dorota K. ^{[1
]}

Kozlowski, Krzysztof ^{[1
]}

机构：

[1] Poznan Univ Tech, Chair Control & Syst Engn, PL-60965 Poznan, Poland

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2015年 / 77卷 / 3-4期

关键词：

Nonholonomic multi-body vehicles; Transverse functions; Chained systems; Controller implementation; Robustness to the measurement noise; MOBILE ROBOT; SYSTEMS; STABILIZATION;

D O I：

10.1007/s10846-013-9882-y

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper is focused on analysis of the control solution using the transverse function approach. The controller considered here is designed for a nonholonomic vehicle with on-axle passive trailers. The main problem investigated is the optimal parametrization of the transverse functions in order to ensure low sensitivity to the measurement noise and high tracking accuracy. Theoretical analysis referring to transverse function scaling using dilation is illustrated by results of extensive numerical simulations. Taking into account these results the controller properties are considered. Finally, possibility of the controller implementation is discussed.

引用

页码：457 / 479

页数：23

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