Path-tracking of a tractor-trailer vehicle along rectilinear and circular paths: A Lyapunov-based approach

IEEE Transactions on Robotics and Automation

Volumn 20, Issue 1, 2004, Pages 154-160

  Astolfi, A ^a,b   Bolzern, P ^a   Locatelli, A ^a  

^a POLITECNICO DI MILANO   (Italy)

^b IMPERIAL COLLEGE LONDON   (United Kingdom)

Author keywords

Articulated vehicles; Autonomous vehicles; Lyapunov design; Mobile robots; Nonlinear stabilization

Indexed keywords

ASYMPTOTIC STABILITY; CLOSED LOOP CONTROL SYSTEMS; COMPUTER SIMULATION; CONTROL SYSTEM SYNTHESIS; CONTROLLABILITY; LYAPUNOV METHODS; MOTION PLANNING; NONLINEAR CONTROL SYSTEMS; STEERING;

ARTICULATED VEHICLES; NONLINEAR STABILIZATION; PATH-TRACKING; TRACTOR-TRAILER SYSTEM; TRACTOR-TRAILER VEHICLE;

MOBILE ROBOTS;

EID: 1542316141     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRA.2003.820928     Document Type: Article

References (26)

1. J. Lane and R. King, "Computer-assisted guidance of an underground mine truck," in Proc. 1994 IEEE Int. Conf. Robotics and Automation, San Francisco, CA, 1994, pp. 420-425.
2. U. Larsson, C. Zell, K. Hyppa, and A. Wernesson, "Navigating an articulated vehicle and reversing with a trailer," in Proc. 1994 IEEE Int. Conf. Robotics and Automation, San Francisco, CA, 1994, pp. 2398-2404.
3. S. Horise, E. Fukushima, and S. Tsukagoshi, "Basic steering control methods for the articulated body mobile robot," IEEE Contr. Syst. Mag., vol. 2, pp. 5-14, Jan. 1995.
4. J. Rabinovitch and J. Leitman, "Urban planning in Curitiba," Sci. Amer., vol. 274, no. 3, pp. 46-53, 1996.
5. R. DeSantis, "Modeling and path-tracking for a load-haul-dump vehicle," J. Dynam. Syst., Meas., Contr., vol. 119, pp. 40-47, 1997.
6. F. Lamiraux, S. Sekhavat, and J. Laumond, "Motion planning and control for Hilare pulling a trailer," IEEE Trans. Robot. Automat., vol. 15, pp. 640-652, Aug. 1999.
7. P. Rouchon, M. Fliess, J. Levine, and P. Martin, "Flatness and motion planning: The car with n trailers," in Proc. European Control Conf., Groningen, The Netherlands, 1993, pp. 1518-1522.
8. ____, "Flatness, motion planning, and trailer systems," in Proc. 32nd Conf. Decision and Control, San Antonio, TX, 1993, 1993, pp. 2700-2705.
9. R. DeSantis, "Path tracking for a tractor-trailer-like robot," Int. J. Robot. Res., vol. 13, no. 6, pp. 533-544, 1994.
10. M. Fliess, J. Levine, P. Martin, and P. Rouchon, "Flatness and defect of nonlinear systems: Introductory theory and examples," Int. J. Control, vol. 61, no. 6, pp. 1327-1361, 1995.
11. M. Sampei, T. Tamura, T. Kobayashi, and N. Shibui, "Arbitrary path-tracking control of articulated vehicles using nonlinear control theory," IEEE Trans. Control Syst. Technol., vol. 3, pp. 125-131, Jan. 1995.
12. C. Samon, "Control of chained systems. Application to path following and time-varying point stabilization of mobile roots," IEEE Trans. Automat. Contr., vol. 40, pp. 64-77, Jan. 1995.
13. D. Tilbury, O. Sordalen, L. Bushnell, and S. Sastry, "A multisteering trailer system: Conversion into chained form using dynamic feedback," IEEE Trans. Robot. Automat., vol. 11, pp. 2278-2284, Dec. 1995.
14. K. Tanaka and T. Kosaki, "Design of a stable fuzzy controller for an articulated vehicle," IEEE Trans. Syst., Man, Cybern. B, vol. 27, pp. 552-558, Mar. 1997.
15. P. Bolzern, R. DeSantis, A. Locatelli, and D. Masciocchi, "Path tracking for articulated vehicles with off-axle hitching," IEEE Trans. Contr. Syst. Technol., vol. 6, pp. 515-523, Apr. 1998.
16. C. Canudas de Wit, "Trends in mobile robot and vehicle control," in Control Problems in Robotics, K. Valavanis and B. Siciliano, Eds. London, U.K.: Springer-Verlag, 1998.
17. R. DeSantis, "Path tracking for articulated vehicles via exact and Jacobian linearization," presented at the IAV'98, Madrid, Spain, 1998.
18. C. Altafini, "General n-trailer, differential flatness, and equivalence," in Proc. 38th Conf. Decision and Control, Phoenix, AZ, 1999, pp. 2144-2149.
19. C. Altafini, A. Speranzon, and B. Wahlberg, "A feedback control scheme for reversing a truck and trailer vehicle," IEEE Trans. Robot. Automat., vol. 17, pp. 915-922, Dec. 2001.
20. P. Bolzern, R. DeSantis, and A. Locatelli, "An input-output linearization approach to the control of an n-body articulated vehicle," J. Dynam. Syst., Meas., Contr., vol. 123, no. 9, pp. 309-316, 2001.
21. Z. Jiang and H. Nijmeijer, "A recursive technique for tracking control of nonholonomic systems in chained form," IEEE Trans. Automat. Contr., vol. 44, pp. 265-279, Feb. 1999.
22. Z. Jiang, "Lyapunov design of global state and output feedback trackers for nonholonomic control systems," Int. J. Control, vol. 73, no. 9, pp. 744-761, 2000.
23. W. Hahn, Stability of Motion. New York: Springer-Verlag, 1967.
24. R. Sepulchre, M. Jankovic, and P. Kokotovic, Constructive Nonlinear Control. New York: Springer-Verlag, 1996.
25. A. Isidori, Nonlinear Control Systems II. New York: Springer-Verlag, 1999.
26. M. Arcak, A. Teel, and P. Kokotovic, "Robust nonlinear control of feed-forward systems with unmodeled dynamics," Automatica, vol. 37, no. 2, pp. 265-272, 2001.