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
收藏
页码：767 / 772
页数：6
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