An Input-Output Linearization Approach to the Control of an n-Body Articulated Vehicle
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Published:2001-01-03
Issue:3
Volume:123
Page:309-316
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ISSN:0022-0434
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Container-title:Journal of Dynamic Systems, Measurement, and Control
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language:en
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Short-container-title:
Author:
Bolzern P.1, DeSantis R. M.2, Locatelli A.1
Affiliation:
1. Politecnico di Milano, Dipartimento di Elettronica e Informazione, Piazza Leonardo da Vinci 32, 20133 Milano, Italy 2. Ecole Polytechnique de Montreal, Dept. de Genie Electrique et Genie Informatique, 2900 Boul. Edouard-Mont Petit, C.P. 6079-A, Montreal, Quebec, Canada
Abstract
The problem of path-tracking for an autonomous vehicle composed of a tractor and n−1 trailers with off-axle hitching is considered in this paper. It is shown that an input-output feedback linearization technique can be adopted both in forward and backward maneuvers, leading to the stabilization of the path-tracking offset dynamics about circular paths. The location of the guide-point needs to be selected according to the direction of motion, and, when moving backward, the off-axle distances must be all positive.
Publisher
ASME International
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Reference26 articles.
1. Bolzern, P., DeSantis, R. M., Locatelli, A., and Togno, S., 1996, “Dynamic model of a two-trailer articulated vehicle subject to nonholonomic constraints,” Robotica, 14, pp. 445–450. 2. DeSantis, R. M.
, 1994, “Path-tracking for a tractor-trailer-like robot,” Int. J. Robot. Res., 13, No. 6, pp. 533–544. 3. DeSantis, R. M.
, 1997, “Modeling and path-tracking for a load-haul-dump vehicle,” ASME J. Dyn. Syst., Meas., Control, 119, pp. 40–47. 4. Juneau, L., and Hurteau, R., 1994, “Automatic guidance of a mining vehicle using laser range data: simulation and preliminary experimental results,” Proc. 5th Int. Symp. on Robotics and Manufacturing. Hawai, USA, pp. 545–550. 5. Lane, J. D., and King, R. H., 1994, “Computer assisted guidance of an underground mine truck,” Proc. of 1994 IEEE Int. Conf. on Robotics and Automation, San Francisco, USA. pp. 420–425.
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