A comparative study of different solutions to the path-tracking problem for an articulated vehicle

Author

Bolzern, Paolo ; Locatelli, Arturo

Author_Institution

Dipt. di Elettronica e Informazione, Politecnico di Milano, Italy

Volume

1

fYear

2002

fDate

2002

Firstpage

427

Abstract

This paper compares different strategies for the control of a 2-body articulated vehicle moving backward along a circular path. Some of these strategies have been recently developed by the authors in a nonlinear framework by exploiting feedback linearization and Lyapunov based techniques. A number of meaningful simulation experiments allow one to classify the relative merits and limitations of the considered control laws.

Keywords

Lyapunov methods; control system synthesis; kinematics; linearisation techniques; nonlinear control systems; position control; road vehicles; vehicle dynamics; 2-body articulated vehicle; Lyapunov based techniques; articulated vehicle; backward motion; control laws; different strategies comparison; feedback linearization; kinematic model; nonlinear framework; path-tracking problem; simulation experiments; Agricultural machinery; Axles; Fuzzy control; Linear approximation; Linear feedback control systems; Lyapunov method; Mobile robots; Remotely operated vehicles; Stability; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2002. Proceedings of the 2002 International Conference on

Print_ISBN

0-7803-7386-3

Type

conf

DOI

10.1109/CCA.2002.1040224

Filename

1040224