Nonlinear tracking control of trailer systems using the Lyapunov direct method

被引：0
|
作者：
Kim, DH [1 ]
Oh, JH [1 ]
机构：
[1] Korea Adv Inst Sci & Technol, Dept Mech Engn, Machine Control Lab, Taejon 305701, South Korea
来源：
JOURNAL OF ROBOTIC SYSTEMS | 1999年 / 16卷 / 01期
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This article concerns the nonlinear tracking control of trailer systems that consist of a steering tractor and a passive trailer, linked together with rigid joint and having nonholonomic velocity constraints. We propose a globally asymptotically stable (GAS) tracking control law using the Lyapunov direct method. The GAS tracking control law is completed by considering the posture term of the trailer systems. We selected two types of trailer systems for examples: the two-wheeled trailer system and the car-like trailer system. The simulation results represent the effectiveness of our proposed method. In addition, there is a plan to test the path following ability of the trailer system. (C) 1999 John Wiley & Sons, Inc.
引用
收藏
页码：1 / 8
页数：8
相关论文
共 50 条
  • [41] Feedback control of switched nonlinear systems using multiple Lyapunov functions
    El-Farra, NH
    Christofides, PD
    PROCEEDINGS OF THE 2001 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 2001, : 3496 - 3502
  • [42] Control of Polynomial Nonlinear Systems Using Higher Degree Lyapunov Functions
    Yang, Shuowei
    Wu, Fen
    JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2014, 136 (03):
  • [43] Using Lyapunov's direct method for wave suppression in reactive systems
    Smagina, Yelena
    Sheintuch, Moshe
    SYSTEMS & CONTROL LETTERS, 2006, 55 (07) : 566 - 572
  • [44] Stabilization of Switched Nonlinear Systems Using Multiple Lyapunov Function Method
    Wang, Min
    Feng, Jiaxin
    Dimirovski, Georgi M.
    Zhao, Jun
    2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9, 2009, : 1778 - +
  • [45] Direct Model Reference Adaptive Control for Tracking Contracting Nonlinear Systems
    Hyun, Nak-seung Patrick
    Petersen, Mark
    Wood, Robert J.
    2020 59TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC), 2020, : 2026 - 2031
  • [46] A Stable Tracking Control of Mobile Multi-robot Using Direct Lyapunov Method Based on Global Coordinate Representation
    Feng, Chu-Chu
    Tan, Guang-Xing
    Duan, Fang-Bin
    PROCEEDINGS OF THE 2ND INTERNATIONAL CONFERENCE ON COMPUTER SCIENCE AND APPLICATION ENGINEERING (CSAE2018), 2018,
  • [47] POSITION FORCE CONTROL DESIGN FOR CONSTRAINED MECHANICAL SYSTEMS - LYAPUNOV DIRECT METHOD
    WANG, DW
    MCCLAMROCH, NH
    PROCEEDINGS OF THE 28TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-3, 1989, : 1665 - 1669
  • [48] Direct Lyapunov method in nonlinear stability of complex flows
    Vladimirov, V.A.
    Moffatt, H.K.
    Nonlinear Analysis, Theory, Methods and Applications, 1997, 30 (1 PART 1): : 563 - 566
  • [49] Systematic Analysis and Design of Control Systems Based on Lyapunov's Direct Method
    Vosswinkel, Rick
    Roebenack, Klaus
    ALGORITHMS, 2023, 16 (08)
  • [50] Lyapunov optimal saturated control for nonlinear systems
    Robinett, RD
    Parker, GG
    Schaub, H
    Junkins, JL
    JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 1997, 20 (06) : 1083 - 1088
12345