Title :
Experiments of backward tracking control for trailer system
Author :
Kim, Doh-Hyun ; Oh, Jun-Ho
Author_Institution :
R&D Lab., LG Precision Co. Ltd., Suwon, South Korea
Abstract :
Trailer systems consist of a steering tractor and a passive trailer linked together with rigid free joint. The backward driving of a trailer system is more difficult than the forward driving, because the backward driving of the trailer system is unstable. We study the backward tracking control for trailer systems and implement the asymptotically stable tracking controller using the Lyapunov direct method. We perform some experiments using a visual feedback system. The experimental results show stable responses and the effectiveness of our method
Keywords :
Lyapunov methods; asymptotic stability; computer vision; feedback; mobile robots; position control; radio links; Lyapunov direct method; asymptotically stable tracking controller; backward driving; backward tracking control; passive trailer; rigid free joint; steering tractor; trailer system; visual feedback system; Charge coupled devices; Charge-coupled image sensors; Control systems; Kinematics; Mobile robots; Nonlinear control systems; Open loop systems; Radio control; Trajectory; Vehicle driving;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.769910
