2017
DOI: 10.1109/tcst.2016.2557232
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Abstract: A general trajectory-tracking control solution is proposed for truly N-trailer robots comprising a unicycle-like tractor and arbitrary number of passive trailers interconnected by sign-homogeneous nonzero hitching offsets. The solution permits either backward or forward motion strategy of a vehicle, preserving location of a guidance point on the last trailer. The presented control law is modular and highly scalable with respect to a number of trailers thanks to employing a cascade-like control structure. Stabi… Show more

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Cited by 30 publications
(28 citation statements)
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References 28 publications
(73 reference statements)
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“…During the past decades, an extensive amount of feedback control techniques for different tractortrailer systems for both forward and backward motion have been proposed. The different control tasks include path-following control (see e.g., [4,10,13,42,59]), trajectory-tracking and set-point control (see e.g., [22,45,46,60]). Here, the focus will be on related path-following control solutions.…”
Section: Path-following Controlmentioning
confidence: 99%
See 2 more Smart Citations
“…During the past decades, an extensive amount of feedback control techniques for different tractortrailer systems for both forward and backward motion have been proposed. The different control tasks include path-following control (see e.g., [4,10,13,42,59]), trajectory-tracking and set-point control (see e.g., [22,45,46,60]). Here, the focus will be on related path-following control solutions.…”
Section: Path-following Controlmentioning
confidence: 99%
“…and e loc k is the the measurement noise with covariance matrix Σ e loc . The standard EKF framework is now applied using the prediction model in (45) and the measurement equations in (46) and (48) [29].…”
Section: Extended Kalman Filtermentioning
confidence: 99%
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“…The authors of [13] presented an observer-based approach, whereas backstepping control strategy was presented in [14,15]. Sliding-mode control for WMR trajectory tracking with initial error was reported in [16], and modular-based method was proposed in [17]. The authors of [18] proposed a Model Predictive Control (MPC) approach and Kalman filter-based strategy was presented in [19].…”
Section: Introductionmentioning
confidence: 99%
“…For robot systems with multiple linked wheeled bodies, a feedback nonlinear control scheme is given by Canudas de Wit et al (1997) for a train-like vehicle; several kinematic control methods are proposed by Sørdalen and Wichlund (1993), Tilbury et al (1995), Morin and Samson (2012), Michałek (2014;2017), Akhtar et al (2015) and Ritzen et al (2016) for one tractor with multiple trailers systems; a kinematic control and a dynamic control are given by Khalaji and Moosavian (2014) for a tractor with one trailer, in which, the latter is unactuated; two kinematic control schemes are designed by Yuan et al (2015) for a double-steering two linked 2WD mobile robots system. However, these control methods are proposed without considering actuator faults.…”
Section: Introductionmentioning
confidence: 99%