Title :
Stabilization of wheeled vehicles by hybrid nonlinear time-varying feedback laws
Author :
Al-Regib, Emad ; Kolmanovsky, Ilya ; McClamroch, N. Harris
Author_Institution :
Dept. of Mech. Eng., Michigan Univ., Ann Arbor, MI, USA
Abstract :
Hybrid feedback control laws are constructed for stabilization of wheeled vehicles consisting of tractors with trailers. The equations of motion are first transformed into a special canonical form, known as the multi-input extended power form. A hybrid stabilization technique developed by Kolmanovsky et al. (1995) is applied to develop the controller structure. These controllers operate by switching at discrete time-instants between various time-periodic feedback functions. Implementation issues are briefly addressed for several wheeled vehicle examples
Keywords :
discrete time systems; feedback; kinematics; nonlinear systems; road vehicles; robust control; time-varying systems; discrete time system; kinematic models; multiple input power form; multiple trailer system; nonholonomic systems; nonlinear time-varying feedback; stabilization; tractors; wheeled vehicles; Aerospace engineering; Control system synthesis; Control systems; Equations; Kinematics; Mechanical engineering; Motion control; State feedback; Vehicles; Wheels;
Conference_Titel :
Control Applications, 1996., Proceedings of the 1996 IEEE International Conference on
Conference_Location :
Dearborn, MI
Print_ISBN :
0-7803-2975-9
DOI :
10.1109/CCA.1996.558608
