Backward Path Tracking Control for Mobile Robot with Three Trailers

被引：4
|
作者：
Cheng, Jin [1 ]
Wang, Bin [1 ]
Xu, Yuan [1 ]
机构：
[1] Univ Jinan, Sch Elect Engn, 336 West Rd Nan Xinzhuang, Jinan 250022, Shandong, Peoples R China
来源：
NEURAL INFORMATION PROCESSING (ICONIP 2017), PT VI | 2017年 / 10639卷
基金：
中国国家自然科学基金;
关键词：
FEEDBACK-CONTROL; TRUCK; VEHICLES;
D O I：
10.1007/978-3-319-70136-3_4
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The path tracking control problem of a mobile robot with three trailers in backward motion is addressed in this paper. Based on the proposed feedback control law, which can stabilize the orientations of the tractor and trailers on the desired reference angle, a fuzzy controller is designed to track given path. The controller is applicable to line segment path and is stable in backward motion. Numerical simulation experiments are implemented and the results show that the designed controller has excellent performance in backward tracking of line path.
引用
收藏
页码：32 / 41
页数：10
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