Trajectory Tracking Control Law for a Tractor-Trailer Wheeled Mobile Robot

被引：0

作者：

Khalaji, Ali Keymasi ^{[1
]}

Moosavian, S. Ali A. ^{[1
]}

Bidgoli, Mojtaba Rahimi ^{[1
]}

机构：

[1] KN Toosi Univ Technol, Dept Mech Engn, Tehran, Iran

来源：

2014 SECOND RSI/ISM INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM) | 2014年

关键词：

Mobile Robot; Tractor-Trailer; Nonholonomic Constraints; Chained-Form Equations; Feedback Linearization; DYNAMIC CONTROL;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Trajectory tracking problem is one of the most important subjects that has been focused with many researchers in past years. In this paper, a Tractor-Trailer type robot including two nonholonomic constraints is analyzed. First, robot kinematic equations are obtained and transformed to the chained-form equations. Next, controllability of robot on the reference trajectory is evaluated and then appropriate reference trajectories for the tractor-trailer robot are generated. Finally a controller based on feedback linearization method is investigated in order to stabilize tracking errors about the origin. Obtained results show that the designed controller performs quite effective.

引用

页码：767 / 772

页数：6

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