Name
Title | ||
|---|---|---|
Path-Tracking Of A Tractor-Trailer Vehicle Along Rectilinear And Circular Paths: A Lyapunov-Based Approach |
Abstract | ||
|---|---|---|
The problem of asymptotic stabilization for-straight and circular forward/backward motions of a tractor-trailer system is addressed using Lyapunov techniques. Smooth, bounded, nonlinear control laws achieving asymptotic stability along the desired path are designed, and explicit bounds on the region of attraction are provided. The problem of asymptotic controllability with bounded control is also addressed. |
Year | DOI | Venue |
|---|---|---|
2004 | 10.1109/TRA.2003.820928 | IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION |
Keywords | Field | DocType |
articulated vehicles, autonomous vehicles, Lyapunov design, mobile robots, nonlinear stabilization | Motion planning,Lyapunov function,Controllability,Control theory,Nonlinear control,Control engineering,Exponential stability,Numerical analysis,Trailer,Mathematics,Bounded function | Journal |
Volume | Issue | ISSN |
20 | 1 | 1042-296X |
Citations | PageRank | References |
21 | 1.15 | 13 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Alessandro Astolfi | 1 | 1554 | 169.77 |
| Paolo Bolzern | 2 | 304 | 30.90 |
| Arturo Locatelli | 3 | 23 | 1.55 |