A Direct Lyapunov Approach for Tracking Control of Mobile Robot with Two on-axle Hitching Trailers

被引：0
|
作者：
Cheng, Jin [1 ,2 ]
Zhang, Yong [1 ]
Wang, Zhonghua [1 ]
机构：
[1] Univ Jinan, Sch Elect Engn, Jinan 250022, Peoples R China
[2] Texas Tech Univ, Dept Mech Engn, Lubbock, TX 79409 USA
来源：
2015 27TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC) | 2015年
关键词：
feedback stabilization; on-axle hitching; two trailers; Lyapunov method;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The control problems for mobile robot with two trailers in backward motion are much more challenging due to the existence of the kinematic constraint between the tractor and trailers. A direct Lyapunov method is designed to reverse the mobile robot stably from any given configuration to a circular trace. Stability of the closed loop feedback system is proved with Lyapunov theory on stability and numeric simulation is implemented to illustrate the effectiveness of the proposed control approach.
引用
收藏
页码：3429 / 3432
页数：4
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