Path Tracking Control of Car-Caravan Type Articulated Vehicles Using Nonlinear Control Theory
Path Tracking Control of Car-Caravan Type Articulated Vehicles Using Nonlinear Control Theory
复制标题
基于非线性控制理论的小车-大篷车型铰接车路径跟踪控制
DOI：
10.9746/sicetr1965.30.427
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发表时间：
1994
期刊：
影响因子：
--
通讯作者：
Tadaharu Kobayashi
中科院分区：
文献类型：
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作者：
M. Sampei;Tadaharu Kobayashi
在我们以前的工作中，我们设计了一个路径跟踪控制器的铰接卡车类型的车辆。当牵引车与拖车的连接点位于牵引车后轮中点时，可以利用输入/状态线性化技术设计路径跟踪控制器。然而，这一假设并不总是满足的，例如，汽车拖车型铰接车辆的关节并不位于拖拉机后轮的中点。如果它不满足，我们不能使用输入/状态线性化技术。本文利用部分线性化技术和时间尺度变换，提出了一种汽车-拖车型铰接车辆的路径跟踪控制器。我们将表明，在仿真和实验中，所提出的控制器的工作令人满意，和汽车大篷车型铰接车辆按照所需的路径时，它是向前和/或向后移动。
In our previous works, we designed a path tracking controller for articulated lorry type vehicles. We showed that we can design path tracking controller using input/state linearization technique, if the joint of the tractor and the trailer is located at the middle point of tractor's rear wheels. However, this assumption is not always satisfied, for example, the joint of a car-caravan type articulated vehicle is not located at the middle point of tractor's rear wheels. If it is not satisfied, we cannot use input/state linearization technique. In this paper, we propose path tracking controller for car-caravan type articulated vehicle using partial linearization technique and time scale transformation. We will show, in the simulation and the experiment, that the proposed controller works satisfactorily, and the car-caravan type articulated vehicle follows the desired path when it is moving forward and/or backward.