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
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;
Conference_Titel :
Control Conference (ECC), 2001 European
Conference_Location :
Porto
Print_ISBN :
978-3-9524173-6-2
