DocumentCode
697074
Title
Path-tracking of a tractor-trailer vehicle via Lyapunov techniques
Author
Astolfi, A. ; Bolzern, P. ; Locatelli, A.
Author_Institution
Dipt. di Elettron. e Inf., Politec. di Milano, Milan, Italy
fYear
2001
fDate
4-7 Sept. 2001
Firstpage
451
Lastpage
456
Abstract
The problem of asymptotic stabilization for selected motions of a tractor-trailer system is addressed using Lyapunov techniques. Smooth, bounded, nonlinear control laws achieving local exponential stability along the desired path are designed and explicit bounds on the region of attraction are provided. The problem of asymptotic controllability with bounded control is also addressed.
Keywords
Lyapunov methods; asymptotic stability; control system synthesis; controllability; mobile robots; nonlinear control systems; position control; vehicle dynamics; Lyapunov techniques; asymptotic controllability; attraction region; explicit bounds; local exponential stability; path-tracking; smooth bounded nonlinear control law; tractor-trailer system; tractor-trailer vehicle; Agricultural machinery; Closed loop systems; Convergence; Equations; Vehicles; Wheels; Lyapunov design; autonomous vehicles; mobile robots; nonlinear stabilization; transportation systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 2001 European
Conference_Location
Porto
Print_ISBN
978-3-9524173-6-2
Type
conf
Filename
7075948
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