Globally asymptotically stable tracking control for a trailer system

DOI10.1002/ROB.10034zbMath1073.70504OpenAlexW2069870132MaRDI QIDQ4785070

Doh-Hyun Kim, Jun-Ho Oh

Publication date: 17 December 2002

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.10034

zbMATH Keywords

nonholonomic constraintsLyapunov direct method

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Related Items (2)

Application of the VFO method to set-point control for theN-trailer vehicle with off-axle hitching ⋮ Forward tracking of complex trajectories with non-Standard N-Trailers of non-minimum-phase kinematics avoiding a jackknife effect

Cites Work

• Nonholonomic motion planning: steering using sinusoids
• Nonlinear tracking control of trailer systems using the Lyapunov direct method

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