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

fYear

1996

fDate

15-18 Sep 1996

Firstpage

67

Lastpage

72

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1996., Proceedings of the 1996 IEEE International Conference on

Conference_Location

Dearborn, MI

Print_ISBN

0-7803-2975-9

Type

conf

DOI

10.1109/CCA.1996.558608

Filename

558608