Abstract
Because the model of the tractor-trailers with off-axle hitching can not be converted to the model of nonholonomic chained form, previously developed control schemes for the latter can not be applied to the former. In this work, a feedback stabilizing control scheme in a time-state controllable form is proposed for the tractor-trailers towing several off-hooked trailers. The linearized time-state form of the system model is derived and proved to be controllable; a switching linear feedback stabilizing control law is then designed to stabilize the states to converge to an arbitrary small neighborhood of origin in a finite time. Simulation results show the effectiveness of the proposed control scheme.
| Original language | English |
|---|---|
| Pages (from-to) | 758-762 |
| Number of pages | 5 |
| Journal | Kongzhi Lilun Yu Yingyong/Control Theory and Applications |
| Volume | 26 |
| Issue number | 7 |
| State | Published - Jul 2009 |
Keywords
- Feedback stabilization
- Time-state control form
- Tractor-trailers with off-axle hitching
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