A Simple Curvature-Based Backward Path-Tracking Control for a Mobile Robot with N Trailers
Tianrui Zhao,
Weining Huang,
Pengjie Xu
et al.
Abstract: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 st… Show more
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