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Hybrid control of a truck and trailer vehicle
SISSA-ISAS International School for Advanced Studies.
KTH, Tidigare Institutioner, Signaler, sensorer och system.
KTH, Tidigare Institutioner, Signaler, sensorer och system.ORCID-id: 0000-0001-9940-5929
2002 (engelsk)Inngår i: Lecture Notes in Computer Science, ISSN 0302-9743, E-ISSN 1611-3349, Vol. 2289, s. 21-34Artikkel i tidsskrift (Annet vitenskapelig) Published
Abstract [en]

A hybrid control scheme is proposed for the stabilization of backward driving along simple paths for a miniature vehicle composed of a truck and a two-axle trailer. When reversing, the truck and trailer can be modelled as an unstable nonlinear system with state and input saturations. Due to these constraints the system is impossible to globally stabilize with standard smooth control techniques, since some initial states necessarily lead to that the so called jack-knife locks between the truck and the trailer. The proposed hybrid control method, which combines backward and forward motions, provide a global attractor to the desired reference trajectory. The scheme has been implemented and successfully evaluated on a radio-controlled vehicle. Results from experimental trials are reported.

sted, utgiver, år, opplag, sider
Springer Berlin/Heidelberg, 2002. Vol. 2289, s. 21-34
Emneord [en]
TRAJECTORY GENERATION, SYSTEMS, CONSTRAINTS
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-26591ISI: 000181347500002ISBN: 3-540-43321-X (tryckt)OAI: oai:DiVA.org:kth-26591DiVA, id: diva2:378024
Konferanse
5th International Workshop on Hybrid Systems - Computation and Control STANFORD, CALIFORNIA, MAR 25-27, 2002
Merknad
5th International Workshop on Hybrid Systems - Computation and Control, STANFORD, CALIFORNIA, MAR 25-27, 2002. QC 20101215Tilgjengelig fra: 2010-12-15 Laget: 2010-11-25 Sist oppdatert: 2017-12-11bibliografisk kontrollert

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