Control of a unicycle-like robot with trailers using transverse function approach

• Autorzy: Pazderski D. , Kozłowski K. , Waśkowicz D.
• Języki publikacji: EN

Abstrakty

EN

The paper presents the application of a smooth kinematic algorithm to control multi-body vehicle which consists of the unicyclelike tractor with three trailers. The controller takes advantage of the transverse functions and properties of the IV-order two input chained system. The derivation of the algorithm is presented in details. In order to improve the performance of the controller in the real application a selected tuning techniques are discussed. The properties of the closed-loop control system are examined based on results of numerical simulations concerning the point stabilization and trajectory tracking tasks.

Słowa kluczowe

EN

transverse functions; vehicle with trailers; nonholonomic system; control motion task; Lie group

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2012
• Tom: Vol. 60, nr 3
• Strony: 557--579
• Opis fizyczny: Bibliogr. 18 poz., rys., tab.

Twórcy

autor

Pazderski D.

autor

Kozłowski K.

autor

Waśkowicz D.

• Poznań University of Technology, Chair of Control and Systems Engineering, 3a Piotrowo St., 60-965 Poznań, Poland

Bibliografia

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