Reconstruction of admissible joint-references from a prescribed output-reference for the non-standard and generalized N-trailers

DOI10.1016/J.EJCON.2020.11.003MaRDI QIDQ1996669zbMATH OpenOpenAlexFDO

Authors Maciej Marcin Michałek, Dariusz Pazderski

Publication date 25 February 2021

Published in European Journal of Control (Search for Journal in Brave)

Copyright license Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International

Full work available at URL https://doi.org/10.1016/j.ejcon.2020.11.003

zbMATH Keywords

GNTinversion problemN-trailer kinematicsnSNTon-axle/off-axle hitchingreference generator

Mathematics Subject Classification ID

Attainable sets, reachability (93B03) Control/observation systems governed by partial differential equations (93C20)

Recommendations

• Forward tracking of complex trajectories with non-standard N-trailers of non-minimum-phase kinematics avoiding a jackknife effect
• Some properties of the general n-trailer
• Dynamic modeling and tracking control of a car with \(n\) trailers
• Trajectory generation for the N-trailer problem using Goursat normal form
• Application of the VFO method to set-point control for theN-trailer vehicle with off-axle hitching

Cites work

• \texttt{ACADO toolkit} -- an open-source framework for automatic control and dynamic optimization
• A new approach to inversion-based feedforward control design for nonlinear systems
• Accurate output tracking for nonminimum phase nonhyperbolic and near nonhyperbolic systems
• An introduction to trajectory optimization: how to do your own direct collocation
• Analysis and control of nonlinear systems. A flatness-based approach
• Differentially flat systems.
• scientific article; zbMATH DE number 3944318 (Why is no real title available?)
• scientific article; zbMATH DE number 47206 (Why is no real title available?)
• scientific article; zbMATH DE number 510356 (Why is no real title available?)
• scientific article; zbMATH DE number 5060482 (Why is no real title available?)
• Inversion of nonlinear time-varying systems
• Non-minimum-phase property of N-trailer kinematics resulting from off-axle interconnections
• Nonlinear inversion-based output tracking
• Nonlinear systems.
• Some properties of the general n-trailer
• Stable inversion of continuous-time nonlinear systems by finite-difference methods
• Stable inversion of nonlinear non-minimum phase systems
• The zero dynamics of a nonlinear system: from the origin to the latest progresses of a long successful story
• Tracking in a class of nonminimum-phase systems with nonlinear internal dynamics via sliding mode control using method of system center

Cited in

(2)

• Forward tracking of complex trajectories with non-standard N-trailers of non-minimum-phase kinematics avoiding a jackknife effect
• Leader-follower formation control of Euler-Lagrange systems with limited field-of-view and saturating actuators: a case study for tractor-trailer wheeled mobile robots

Describes a project that uses

Uses Software

• ACADO

This page was built for publication: Reconstruction of admissible joint-references from a prescribed output-reference for the non-standard and generalized N-trailers

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q1996669)