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Motion Planning and Control of a Tractor with a Steerable Trailer Using Differential Flatness

Title
Motion Planning and Control of a Tractor with a Steerable Trailer Using Differential Flatness
Author
Agrawal, Sunil K.
Keywords
WHEELED MOBILE ROBOTS; EXPERIMENTAL VALIDATION; FEEDBACK LINEARIZATION; TRACKING; DYNAMICS; SYSTEMS
Issue Date
2008-04
Publisher
ASME
Citation
JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS, v. 3, No. 3, Page. 031003
Abstract
This paper presents a methodology for trajectory planning and tracking control of a tractor with a steerable trailer based on the system's dynamic model. The theory of differential flatness is used as the basic approach in these developments. Flat outputs are found that linearize the system's dynamic model using dynamic feedback linearization, a subclass of differential flatness. It is demonstrated that this property considerably simplifies motion planning and the development of controller Simulation results are presented in the paper, which show that the developed controller has the desirable performance with exponential stability.
URI
http://computationalnonlinear.asmedigitalcollection.asme.org/article.aspx?articleid=1394972https://repository.hanyang.ac.kr/handle/20.500.11754/107570
ISSN
1555-1423; 1555-1415
DOI
10.1115/1.2908178
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > MECHANICAL ENGINEERING(기계공학과) > Articles
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