TY - GEN
T1 - Straight-line path following control of tractor-trailers with off-axle hitching and parameters uncertainties
AU - Ma, Zhao
AU - Ma, Baoli
PY - 2011
Y1 - 2011
N2 - In this work, we investigate the straight-line path following problem of tractor-trailers with off-axle hitching and parameter uncertainties. A sliding-mode variable structure and parameter adaptive controllers are proposed respectively achieving asymptotical stabilization of the tractor-trailers to the desired straight-line path in forward and backward manner despite unknown geometric parameters, while the linkage angle between the tractor and the trailer being kept bounded and convergent to zero. Simulation results show the effectiveness of the proposed control schemes.
AB - In this work, we investigate the straight-line path following problem of tractor-trailers with off-axle hitching and parameter uncertainties. A sliding-mode variable structure and parameter adaptive controllers are proposed respectively achieving asymptotical stabilization of the tractor-trailers to the desired straight-line path in forward and backward manner despite unknown geometric parameters, while the linkage angle between the tractor and the trailer being kept bounded and convergent to zero. Simulation results show the effectiveness of the proposed control schemes.
KW - Adaptive sliding-mode control
KW - Off-axle tractor-trailers
KW - Parameter uncertainty
KW - Straight-line path following
UR - https://www.scopus.com/pages/publications/80053072686
M3 - 会议稿件
AN - SCOPUS:80053072686
SN - 9789881725592
T3 - Proceedings of the 30th Chinese Control Conference, CCC 2011
SP - 336
EP - 341
BT - Proceedings of the 30th Chinese Control Conference, CCC 2011
T2 - 30th Chinese Control Conference, CCC 2011
Y2 - 22 July 2011 through 24 July 2011
ER -