TY - GEN
T1 - Straight-line path following control of off-axle tractor-trailers
AU - Liu, Yu
AU - Ma, Baoli
PY - 2012
Y1 - 2012
N2 - The straight-line path following problem of off-axle tractor-trailers is investigated in this work. First, the robust relative degree approach is used to convert the error model to a linear time-varying one approximately, and then three path-following control laws are constructed based on back-stepping and Lyapunov approaches, guaranteeing asymptotic convergence of the tractor-trailer to the desired straight-line path provided the linear velocity of the tractor is bounded and not convergent to zero. Simulation results show the effectiveness of the proposed control schemes.
AB - The straight-line path following problem of off-axle tractor-trailers is investigated in this work. First, the robust relative degree approach is used to convert the error model to a linear time-varying one approximately, and then three path-following control laws are constructed based on back-stepping and Lyapunov approaches, guaranteeing asymptotic convergence of the tractor-trailer to the desired straight-line path provided the linear velocity of the tractor is bounded and not convergent to zero. Simulation results show the effectiveness of the proposed control schemes.
KW - Off-axle tractor-trailers
KW - back-stepping design
KW - robust relative degree
KW - straight-line path following
UR - https://www.scopus.com/pages/publications/84873541084
M3 - 会议稿件
AN - SCOPUS:84873541084
SN - 9789881563811
T3 - Chinese Control Conference, CCC
SP - 4468
EP - 4473
BT - Proceedings of the 31st Chinese Control Conference, CCC 2012
T2 - 31st Chinese Control Conference, CCC 2012
Y2 - 25 July 2012 through 27 July 2012
ER -