• DocumentCode
    2916501
  • Title

    Point Stabilization of a Tactor-Trailer Mobile Robot

  • Author

    Yong, Zhang ; Jin, Cheng ; Xiaohua, Zhang

  • Author_Institution
    Sch. of Electr. Eng. & Autom., Harbin Inst. of Technol., Harbin
  • fYear
    2008
  • fDate
    17-20 Dec. 2008
  • Firstpage
    1747
  • Lastpage
    1751
  • Abstract
    Point stabilization of a Tractor-Trailer Mobile Robot is addressed in this paper. Based on the transformed chained system, a discontinuous feedback control law with high order sliding mode method is proposed. Simulation is carried out to verify the control law and the results show that it can drive the system converge to the origin in finite time.
  • Keywords
    agricultural machinery; feedback; mobile robots; sampled data systems; stability; discontinuous feedback control law; finite time origins; sliding mode method; tractor-trailer mobile robot point stabilization; Automatic control; Control systems; Feedback control; Mobile robots; Robot control; Robot kinematics; Robotics and automation; Sliding mode control; Trajectory; Wheels; mobile robot; nonholonomic system; point stabilization; tractor-trailer;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on
  • Conference_Location
    Hanoi
  • Print_ISBN
    978-1-4244-2286-9
  • Electronic_ISBN
    978-1-4244-2287-6
  • Type

    conf

  • DOI
    10.1109/ICARCV.2008.4795791
  • Filename
    4795791
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2916501