An identical path tracking control strategy of the tractor-trailer wheeled mobile robot with an off-axle hitching based on a passive steering angle

DOI10.1016/J.JFRANKLIN.2024.01.035WikidataQ129504951 ScholiaQ129504951MaRDI QIDQ6202489FDOQ6202489

Authors: Shengyang Miao, Yusheng Zhou 

Publication date: 26 March 2024

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Recommendations

• Path following control for tractor-trailer mobile robots with two kinds of connection forms
• Trajectory planning and robust tracking control for a class of active articulated tractor-trailer vehicle with on-axle structure
• Path Tracking of a Bi-steerable Mobile Robot: An Adaptive Off-road Multi-control Law Strategy
• Application of the VFO method to set-point control for theN-trailer vehicle with off-axle hitching

zbMATH Keywords

relative curvaturecurvature tracing methoddirected Lyapunov methodproportion integration feedback controltractor-trailer with an off-axle hitching

Mathematics Subject Classification ID

Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

• Nonholonomic motion planning: steering using sinusoids
• Indirect adaptive fuzzy control for a nonholonomic/underactuated wheeled inverted pendulum vehicle based on a data-driven trajectory planner
• Turning motion control design of a two-wheeled inverted pendulum using curvature tracking and optimal control theory
• Non-minimum-phase property of \(N\)-trailer kinematics resulting from off-axle interconnections
• Path tracking control of a tractor-trailer wheeled robot kinematics with a passive steering angle
• Trajectory planning and robust tracking control for a class of active articulated tractor-trailer vehicle with on-axle structure

Cited In (2)

• Nonlinear dynamic modeling of tractor-trailer mobile robots with consideration of wheels inertia and their optimal point-to point path planning
• Path Tracking of a Bi-steerable Mobile Robot: An Adaptive Off-road Multi-control Law Strategy

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