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1 Bulletin of the Polish Academy of Sciences. Technical Sciences

1 2012

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

Pazderski D., Kozłowski K., Waśkowicz D.

Bulletin of the Polish Academy of Sciences. Technical Sciences

2012

Vol. 60, nr 3

557-579

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.