Nonlinear tracking control of trailer systems using the Lyapunov direct method

Kim, Doh-Hyun; Oh, Jun-Ho

doi:10.1002/(sici)1097-4563(199901)16:1<1::aid-rob1>3.0.co;2-q

Cited by 11 publications

(3 citation statements)

References 7 publications

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“…The alternative model incorporates an Ackermann steering mechanism, which utilizes the tractor's front wheels for directional guidance and the rear wheels for propelling and towing the trailer. Kinematic models of these two types are studied in [20]. In our research, we focus on the first type, i.e., differential wheel steering.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Re-Planning and Tracking Control for a Tractor–Trailer Mobile Robot Subject to Multiple Constraints

Zhao,

Li,

Yuan

et al. 2024

Actuators

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Autonomous tractor–trailer robots possess a broad spectrum of applications but pose significant challenges in control due to their nonlinear and underactuated dynamics. Unlike the tractor, the motion of the trailer cannot be directly actuated, which often results in a deviation from the intended path. In this study, we introduce a novel method for generating and following trajectories that circumvent obstacles, tailored for a tractor–trailer robotic system constrained by multiple factors. Firstly, leveraging the state information of both the obstacles and the desired trajectory, we formulate an improved trajectory for obstacle avoidance using the nonlinear least squares method. Subsequently, we propose an innovative tracking controller that integrates a universal barrier function with a state transformation strategy. This amalgamation facilitates the accurate tracking of the prescribed trajectory. Our theoretical analysis substantiates that the proposed control methodology ensures exponential convergence of the line-of-sight (LOS) distance and angle tracking errors, while enhancing the transient performance. To validate the efficacy of our approach, we present a series of simulation results, which demonstrate the applicability of the developed control strategy in managing the complex dynamics of tractor–trailer robots.

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Section: Introductionmentioning

confidence: 99%

Trajectory Re-Planning and Tracking Control for a Tractor–Trailer Mobile Robot Subject to Multiple Constraints

Zhao,

Li,

Yuan

et al. 2024

Actuators

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“…Perhaps the most frequent contributions are those based on the Lyapunov direct method. 2,4,6 There have also been trials to linearize the system using a first-order approximation, 10,13 a local time-varying linearization around the equilibrium point, 16 or feedback linearization. 7,11 Sampei et al 3 designed a controller using the exact linearization and time scale transformation.…”

Section: Introductionmentioning

confidence: 99%

A path following control for unicycle robots

et al. 2001

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In this work we present a new path following control for unicycle robots that is applicable for almost all the possible desired paths and whose analysis is very straightforward. First we select the path following method that consists of two steps: choosing a “projection” that relates the actual posture to the desired path and imposing a “motion exigency” to ensure that the robot advances. A “projection” that considers all the error coordinates is selected and closed equations are obtained for it. The uniqueness projection is carefully analyzed and a necessary and sufficient condition is also presented. This condition shows that a slight bound on the curvature derivative of desired paths must be imposed to preserve uniqueness. It is remarkable that the selected path following is applicable for paths containing zero‐radius turns, a problem that has never been resolved as far as we know. In addition, an asymptotically stable control law is found using the closed form equation of the proposed path following and the second Lyapunov method. Finally, we show the behavior of the path following and the control law through several simulated and experimental results, using a computerized wheelchair built at our research facility. © 2001 John Wiley & Sons, Inc.

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“…This path-following method ensures that the error is minimised. A Lyapunov direct method is used in Kim and Oh (1999) to prove convergence. Nonlinear control for path following ensures stabilisation and convergence in mobile robots Samson 1992, 1993).…”

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confidence: 99%

Path‐Following Guidance

Tsourdos

White

Shanmugavel

2010

Cooperative Path Planning of Unmanned Aerial Vehicles

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The previous chapters have detailed the design of paths through complex environments to enable the UAVs to coordinate their search and rendezvous activities. In order for the UAVs to complete their missions, we require them to be able to follow the planned paths accurately. To that end, guidance algorithms are required to ensure correct following of the paths. The analysis will assume that an autopilot has been designed to enable the UAV to follow velocity and heading commends accurately. Although this is not a topic for this book, there are many references that confirm that the design of such autopilots has been demonstrated in flight.In order to fly along or close to the planned path, the UAV may be assigned to track the trajectory or to follow the path. The first case is called trajectory tracking, where the path is parameterized by time and the UAV has to track a point as it moves along the path. The second method is called path following, in which the UAV has to stay close to the path without having to track an explicit point. In both methods, the guidance system tries to reduce the distance error between the UAV and the path. The distance error is the orthogonal projection of the UAV's position onto the path. The guidance algorithm needs to generate a smooth path that meets the kinematic constraints of the UAV and to minimise the error. The guidance algorithm must also be able to make the UAV track straight paths and curved paths. Cooperative Path Planning of Unmanned Aerial Vehicles

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Nonlinear tracking control of trailer systems using the Lyapunov direct method

Cited by 11 publications

References 7 publications

Trajectory Re-Planning and Tracking Control for a Tractor–Trailer Mobile Robot Subject to Multiple Constraints

Trajectory Re-Planning and Tracking Control for a Tractor–Trailer Mobile Robot Subject to Multiple Constraints

A path following control for unicycle robots

Path‐Following Guidance

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