ARBITRARY PATH TRACKING CONTROL OF ARTICULATED VEHICLES USING NONLINEAR CONTROL-THEORY

被引：126

作者：

SAMPEI, M ^{[1
]}

TAMURA, T ^{[1
]}

KOBAYASHI, T ^{[1
]}

SHIBUI, N ^{[1
]}

机构：

[1] CHIBA UNIV,DEPT ELECT & ELECTR ENGN,CHIBA 260,JAPAN

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 1995年 / 3卷 / 01期

关键词：

D O I：

10.1109/87.370718

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we will design a path tracking controller for an articulated vehicle (a semitrailer-like vehicle) using time scale transformation and exact linearization. The proposed controller allows articulated vehicles to follow arbitrary paths consisting of arcs and lines, while they are moving forward and/or backward. The experimental result of the 8-shaped path tracking control of the articulated vehicle moving backward is also presented.

引用

页码：125 / 131

页数：7

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