Performance Improve Method for Backward Path-Tracking Control of an Articulated Vehicle and its Implementation Using FastSLAM

2019 ◽  
Vol 139 (4) ◽  
pp. 305-312
Author(s):  
Mamiko Fujimoto ◽  
Satoru Nawa ◽  
Natsuki Kawaguchi ◽  
Nozomu Araki ◽  
Takao Sato ◽  
...  
Keyword(s):  
Tracking Control ◽  
Improve Method ◽  
Path Tracking ◽  
Articulated Vehicle

On the Backward Path Tracking Control of N-Trailer Systems

2021 ◽  
Vol 1 (1) ◽  
pp. 13-20
Author(s):  
Julius Kolb ◽  
Gunter Nitzsche ◽  
Sebastian Wagner ◽  
Klaus Röbenack
Keyword(s):  
Tracking Control ◽  
Path Tracking ◽  
Stability Conditions ◽  
Control Law ◽  
Exact Linearization ◽  
Lateral Control ◽  
General Stability ◽  
Articulated Vehicles ◽  
Articulated Vehicle ◽  
Wheeled Vehicles

This paper considers the lateral control of articulated wheeled vehicles in backward motion. The parameterized articulated vehicle is composed of a car-like truck and N passive trailers, resulting in one single steerable axle. First a nonlinear path tracking control law based on exact linearization of an offset model is reviewed and the general stability conditions of such systems is presented. Second, a stability analysis for some vehicle cases is performed and verified in simulation. The possible application of this path tracking control law in real world articulated vehicles is discussed, and its limitations are shown.

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