DocumentCode
2034476
Title
Stabilization of the general two-trailer system
Author
Vendittelli, Marilena ; Oriolo, Giuseppe
Author_Institution
Dipartimento di Inf. e Sistemistica, Rome Univ., Italy
Volume
2
fYear
2000
fDate
2000
Firstpage
1817
Abstract
Existing methods for nonholonomic feedback stabilization can only be applied to exactly nilpotentizable or flat systems. In this paper, a car towing two off-hooked trailers is considered as a canonical example of robot that does not fall into the above class. We show that exponential convergence to arbitrary configurations can be obtained by means of an iterative steering technique based on a nonhomogeneous nilpotent approximation of the system. Simulation results illustrate the performance of the method
Keywords
convergence; feedback; iterative methods; mobile robots; nonlinear systems; position control; robot kinematics; stability; exponential convergence; feedback; iterative steering; kinematics; mobile robot; nilpotent approximation; nonholonomic systems; stabilization; two-trailer system; Axles; Control system synthesis; Controllability; Convergence; Feedback; Mobile robots; Motion control; Motion planning; Polynomials; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.844859
Filename
844859
Link To Document