Non-minimum-phase property of<i>N</i>-trailer kinematics resulting from off-axle interconnections

Michałek, Maciej Marcin

doi:10.1080/00207179.2012.759662

Cited by 36 publications

(34 citation statements)

References 31 publications

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“…The direct and inverse transformations of velocities between any two neighboring segments result from the following equations (see, e.g., [8]):…”

Section: A Kinematics Of N-trailersmentioning

confidence: 99%

“…By taking the time derivative ofβ defined in (9) and utilizing (5), (8), and (22), one can write the shape-error dynamicṡ…”

Section: Modular Tracking Controllermentioning

confidence: 99%

“…One may predict that the recent trend for automation of guidance systems in commercial vehicles will also find applications in the domain of articulated vehicles which are especially difficult to control. Due to specific properties of N-trailer kinematics (investigated, e.g., in [1], [8], [10], [12], [13], and [26]), feedback control design for these systems is generally nontrivial. Most control solutions proposed in the literature so far for truly N-trailers (i.e., admitting arbitrary number of trailers) concern the time-noncritical tasks like the set-point stabilization and path following (see, for instance, [2]- [4], [9], [14], [15], [18], [21], [24], [27]), or address the control problems for the differentially flat so-called Standard N-Trailers (SNT) equipped solely with on-axle hitches (see [7], [19], [22], [24], [27]).…”

Section: Introductionmentioning

confidence: 99%

“…We focus on the N-trailers equipped solely with off-axle hitches. Following the classification proposed in [8], let us call the vehicles from this class the non-Standard Manuscript received January 27, 2016; accepted April 8, 2016. Manuscript received in final form April 11, 2016.…”

Section: Introductionmentioning

confidence: 99%

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Cascade-Like Modular Tracking Controller for non-Standard N-Trailers

Michałek

2017

IEEE Trans. Contr. Syst. Technol.

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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. Stability and robustness analysis of the closed-loop system provides sufficient conditions for asymptotic and practical tracking for a wide set of the so-called segment-platooning reference trajectories containing both constant-curvature and varying-curvature motion profiles. Efficiency of the controller and its robustness to parametric uncertainty have been illustrated by experimental results obtained for a three-trailer vehicle.

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“…The direct and inverse transformations of velocities between any two neighboring segments result from the following equations (see, e.g., [8]):…”

Section: A Kinematics Of N-trailersmentioning

confidence: 99%

“…By taking the time derivative ofβ defined in (9) and utilizing (5), (8), and (22), one can write the shape-error dynamicṡ…”

Section: Modular Tracking Controllermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Cascade-Like Modular Tracking Controller for non-Standard N-Trailers

Michałek

2017

IEEE Trans. Contr. Syst. Technol.

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“…According to the type of interconnection between the vehicle segments (on-axle or off-axle) one distinguishes three kinds of tractor-trailer vehicles: Standard N-Trailers (SNT) where all the hitching joints are situated at the midpoint of a preceding segment axle [10,12], non-Standard N-Trailers (nSNT) where all the joints are mounted off the axle of a preceding segment [15], and General N-Trailers (GNT) with the mixed locations of particular hitching points-on and off the axles [1]. Highly nonlinear nature of N-trailer kinematics, the presence of nonholonomic constraints, structural instability of joint-angle subsystem, and nonminimum-phase properties resulting from off-axle interconnections [16] all make the motion control tasks of N-trailers the non-trivial and challenging problems. Numerous, more or less specialized, solutions to different motion tasks have been proposed in the literature for 1-trailer or 2-trailer robots, cf.…”

Section: Introductionmentioning

confidence: 99%

Cascaded VFO Control for Non-Standard N-Trailer Robots

Michałek

Kiełczewski

Jedwabny

2013

J Intell Robot Syst

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Articulated mobile robots consisting of a tractor and passively off-hooked trailers belong to a class of highly nonlinear, nonholonomic, structurally unstable, differentially nonflat, and underactuated dynamic systems. Due to the mentioned properties of their kinematics, motion control problems related to N-trailer robots (N-trailers) are non-trivial and challenging. Cascaded control strategy presented in this paper provides unified solution to the set-point and trajectory tracking control tasks for articulated robots equipped with arbitrary number of passively off-axle hitched trailers. Practically useful features of the proposed controller come from its high scalability and from application of the VectorField-Orientation (VFO) controller in the outer loop, which ensures fast errors convergence and simplicity of control implementation and tuning. Control input limitations of the robot are directly taken into account by utilization of a simple velocity scaling procedure which preserves an instantaneous motion curvature of a tractor. Description

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A geometric approach to target convergence and obstacle avoidance of a nonstandard tractor‐trailer robot

Prasad

Sharma

Vanualailai

et al. 2020

Intl J Robust & Nonlinear

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SummaryIn this article, a solution to target convergence and obstacle avoidance problem of an underactuated nonstandard n‐trailer robot is proposed. With a new geometric approach, we propose autonomous velocity and steering angle controllers for the car‐like tractor robot such that the tractor‐trailer system moves from an initial position to a designated target. The proposed method simultaneously takes into account the dynamics constraints of the system and also ensures that the robot avoids any fixed obstacles on its way to the target. We also generalize the results to control the motion of the nonstandard n‐trailer system with an arbitrary number of passive trailers, a mathematically challenging nonlinear underactuated system, given that the angular velocity of a trailer is dependent on the angular velocity of the preceding trailer. The effectiveness of the new geometric approach and the stabilizing control inputs is verified using computer simulations.

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Non-minimum-phase property ofN-trailer kinematics resulting from off-axle interconnections

Cited by 36 publications

References 31 publications

Cascade-Like Modular Tracking Controller for non-Standard N-Trailers

Cascade-Like Modular Tracking Controller for non-Standard N-Trailers

Cascaded VFO Control for Non-Standard N-Trailer Robots

A geometric approach to target convergence and obstacle avoidance of a nonstandard tractor‐trailer robot

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