Title :
Path tracking control for mobile robot with two trailers
Author :
Cheng Jin ; Zhang Yong ; Wang Zhonghua
Author_Institution :
Sch. of Sch. of Electr. Eng., Univ. of Jinan, Jinan, China
Abstract :
A controller is designed in this paper to stably reverse the mobile robot with two trailers while tracking rectilinear path. Firstly, a nonlinear smooth feedback control law for orientation tracking of the trailers with asymptotic stability in backward motion is proposed and proved with theory about cascade system and input-to-state stability and also Lypunov technique. Based on the proposed control law, the controller is constructed with line-of-sight method to reverse the mobile robot with two trailers to track rectilinear path. Simulation results illustrate the effectiveness of the designed controller.
Keywords :
Lyapunov methods; asymptotic stability; cascade systems; control system synthesis; mobile robots; Lypunov technique; asymptotic stability; backward motion; cascade system; controller design; input-to-state stability; line-of-sight method; mobile robot; nonlinear smooth feedback control law; orientation tracking; path tracking control; rectilinear path; Agricultural machinery; Asymptotic stability; Mobile robots; Robot kinematics; Three-dimensional displays; Tracking; line of sight; mobile robot; path tracking; two trailers;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
