Title :
Path-tracking of a tractor-trailer vehicle along rectilinear and circular paths: a Lyapunov-based approach
Author :
Astolfi, A. ; Bolzern, P. ; Locatelli, A.
Author_Institution :
Dipt. di Elettronica e Informazione, Politecnico di Milano, Italy
Abstract :
The problem of asymptotic stabilization for straight and circular forward/backward motions of a tractor-trailer system is addressed using Lyapunov techniques. Smooth, bounded, nonlinear control laws achieving asymptotic 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; automatic guided vehicles; control nonlinearities; controllability; mobile robots; path planning; road vehicles; Lyapunov-based approach; asymptotic controllability; asymptotic stabilization; attraction region; automatic guidance; autonomous vehicles; bounded control; circular paths; explicit bounds; forward-backward motions; industrial articulated vehicles; mobile robots; nonlinear control laws; path-tracking; rectilinear paths; tractor-trailer vehicle; wheeled tractor; Adaptive control; Asymptotic stability; Control systems; Controllability; Convergence; Electrical equipment industry; Mobile robots; Remotely operated vehicles; Velocity control; Wheels;
Journal_Title :
Robotics and Automation, IEEE Transactions on
DOI :
10.1109/TRA.2003.820928
