DocumentCode
1460869
Title
Trajectory tracking control of a car-trailer system
Author
Divelbiss, Adam W. ; Wen, John T.
Author_Institution
Reveo Corp., Hawthorne, NY, USA
Volume
5
Issue
3
fYear
1997
fDate
5/1/1997 12:00:00 AM
Firstpage
269
Lastpage
278
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
Keywords
automobiles; linear quadratic control; mobile robots; path planning; position control; robot kinematics; time-varying systems; car-trailer system; docking; kinematic model; parallel parking; path space iterative algorithm; time-varying linear quadratic regulator; tractor-trailer vehicle; trajectory tracking control; Control systems; Iterative algorithms; Manufacturing automation; Mobile robots; Orbital robotics; Path planning; Regulators; Robot kinematics; Space vehicles; Trajectory;
fLanguage
English
Journal_Title
Control Systems Technology, IEEE Transactions on
Publisher
ieee
ISSN
1063-6536
Type
jour
DOI
10.1109/87.572125
Filename
572125
Link To Document