Nonlinear control for a convoy-like vehicle

被引：26

作者：

Canudas-de-Wit, C ^{[1
]}

NDoudi-Likoho, AD ^{[1
]}

机构：

[1] Inst Natl Polytech Grenoble, ENSIEG, Lab Automat Grenoble, F-38402 St Martin Dheres, France

来源：

AUTOMATICA | 2000年 / 36卷 / 03期

关键词：

nonlinear control; convoy-like vehicles; mobile robot; back-stepping; automated guided vehicles;

D O I：

10.1016/S0005-1098(99)00167-3

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a nonlinear control law for a set of unconnected carts which are expected to move as a convoy-like vehicle. Applications of such control scheme can be found in highways where cars are desired to move at the same speed while controlling the distance between them, in automated flexible factories where set of mobile robots are required to follow a leader mobile robot and also in public transports programs where personalized vehicles are assumed to move in a convoy-like configuration. The control law presented in this paper is based on a previous work on feedback design for a train-like vehicle consisting of connected carts (see Canudas-de-Wit, NDoudi-Likoho & Micaelli, Conference on robotics and automation vol. 1 (pp. 14-19). New York: IEEE Press). (C) 2000 Elsevier Science Ltd. All rights reserved.

引用

页码：457 / 462

页数：6