TY - JOUR
AU - Zhao, Yanzheng
AB - This paper introduces a two-tier feedback control law for the path tracking of a mobile robot equipped with N on-axle trailers. Initially, through a recursive design process, the curvature-tracking challenge is converted into stabilizing the joint angles at predefined reference values. This design approach is straightforward and can be easily extended to configurations with multiple trailers. Using input-to-state stability analysis, we demonstrate the asymptotic stability of the closed-loop system, which is structured in cascade form. Furthermore, we reformulate the path-tracking problem as a curvature-planning challenge and propose an algorithm to determine the desired curvature for the tail trailer. The simulation results validate the effectiveness of this novel algorithm in truck-trailer systems.
TI - A Simple Curvature-Based Backward Path-Tracking Control for a Mobile Robot with N Trailers
JF - Actuators
DO - 10.3390/act13070237
DA - 2024-06-25
UR - https://www.deepdyve.com/lp/multidisciplinary-digital-publishing-institute/a-simple-curvature-based-backward-path-tracking-control-for-a-mobile-mvaN22ivl8
SP - 237
VL - 13
IS - 7
DP - DeepDyve
ER -