Nonlinear feedback and robust tracking control of articulated vehicles

Author

Bin Jiang ; Liu, Xiaoping ; Qi, Xin ; Zhang, Siying

Author_Institution

Dept. of Autom. Control, Northeaster Univ., Shenyang, China

fYear

1994

fDate

24-26 Aug 1994

Firstpage

373

Abstract

In this paper, firstly, the nonlinear system equations including explicit output equations which describe the articulated vehicles with double trailers are given, nonlinear feedback and diffeomorphic transformation techniques based on differential geometry theory are then applied to totally linearize the nonlinear model. Finally, the PD controller and variable structure compensator are designed for the linear system. Results from a simulation are used to illustrate the efficacy of the method

Keywords

compensation; control system synthesis; differential geometry; feedback; linear systems; linearisation techniques; mobile robots; nonlinear control systems; tracking; two-term control; variable structure systems; PD controller; articulated vehicles; diffeomorphic transformation techniques; differential geometry theory; double trailers; explicit output equations; linear system; nonlinear feedback; robust tracking control; variable structure compensator; Compensation; Differential geometry; Linear systems; Mobile robots; Nonlinear systems; Output feedback; Proportional control; Tracking; Variable structure systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1994., Proceedings of the Third IEEE Conference on

Conference_Location

Glasgow

Print_ISBN

0-7803-1872-2

Type

conf

DOI

10.1109/CCA.1994.381417

Filename

381417