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

Volume

20

Issue

1

fYear

2004

Firstpage

154

Lastpage

160

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;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/TRA.2003.820928

Filename

1266658