Title :
Trajectory tracking control of a car-trailer system
Author :
Divelbiss, Adam W. ; Wen, John T.
Author_Institution :
Reveo Corp., Hawthorne, NY, USA
fDate :
5/1/1997 12:00:00 AM
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;
Journal_Title :
Control Systems Technology, IEEE Transactions on
