학술논문
Backward Orientation Tracking Control of Mobile Robot with N Trailers
Document Type
Article
Author
Source
(2022): 867-874.
Subject
Language
Korean
ISSN
15986446
Abstract
A feedback control law for orientation tracking problem of a mobile robot with N on-axle trailers isproposed in this paper. Based on a recursive designing process, the orientation tracking problem is converted intostabilizing the including angles on the designed reference value. The designing process of the control law is simpleand can be easily extended to any given N trailers system. With input-to-state stability on cascade form system, theclosed-loop system is proven to be asymptotically stable. Simulation experiment on a mobile robot with 4 trailersis implemented and the results demonstrate that the proposed control law works successfully.
A feedback control law for orientation tracking problem of a mobile robot with N on-axle trailers isproposed in this paper. Based on a recursive designing process, the orientation tracking problem is converted intostabilizing the including angles on the designed reference value. The designing process of the control law is simpleand can be easily extended to any given N trailers system. With input-to-state stability on cascade form system, theclosed-loop system is proven to be asymptotically stable. Simulation experiment on a mobile robot with 4 trailersis implemented and the results demonstrate that the proposed control law works successfully.
A feedback control law for orientation tracking problem of a mobile robot with N on-axle trailers isproposed in this paper. Based on a recursive designing process, the orientation tracking problem is converted intostabilizing the including angles on the designed reference value. The designing process of the control law is simpleand can be easily extended to any given N trailers system. With input-to-state stability on cascade form system, theclosed-loop system is proven to be asymptotically stable. Simulation experiment on a mobile robot with 4 trailersis implemented and the results demonstrate that the proposed control law works successfully.