Path tracking control of a tractor-trailer wheeled robot kinematics with a passive steering angle

DOI10.1016/J.APM.2022.04.025MaRDI QIDQ2109703zbMATH OpenOpenAlexFDO

Authors Yanyan Li

Publication date 21 December 2022

Published in Applied Mathematical Modelling (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.apm.2022.04.025

zbMATH Keywords

dynamic tracking targetmotion lawnon-holonomic constraintpassive steering anglerelative curvaturetractor-trailer wheeled robot travelling at a low speed

Mathematics Subject Classification ID

Linear-quadratic optimal control problems (49N10) Applications of optimal control and differential games (49N90) Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85)

Cites work

• Dynamic modeling and tracking control of a car with \(n\) trailers
• Turning motion control design of a two-wheeled inverted pendulum using curvature tracking and optimal control theory

Cited in

(3)

• Autonomous Tracking Control for Four-Wheel Independent Steering Robot Based on Improved Pure Pursuit
• An identical path tracking control strategy of the tractor-trailer wheeled mobile robot with an off-axle hitching based on a passive steering angle
• Extended state observer-based trajectory tracking control of a wheeled mobile robot with one unpowered trailer

This page was built for publication: Path tracking control of a tractor-trailer wheeled robot kinematics with a passive steering angle

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2109703)