Tracking Control of a Wheeled Mobile Robot with Two Trailers
Publish Year: 1392
Type: Conference paper
Language: English
View: 212
This Paper With 6 Page And PDF Format Ready To Download
- Certificate
- I'm the author of the paper
Export:
Document National Code:
ISME21_589
Index date: 8 November 2022
Tracking Control of a Wheeled Mobile Robot with Two Trailers abstract
Trajectory tracking problem is one of the most important subjects that has been focused with many researchers in past years. In this paper, a wheeled mobile robot with two trailers including three nonholonomic constraints is analyzed. First, the system kinematic equations are obtained and transformed to the chained-form equations. Next, appropriate reference trajectories for the wheeled mobile robot with two trailers are generated. Finally, based on full-state linearization via dynamic feedback method, a controller is designed in order to stabilize tracking errors toward zero. Obtained results show that the merits of proposed controller.
Tracking Control of a Wheeled Mobile Robot with Two Trailers Keywords:
Tracking Control of a Wheeled Mobile Robot with Two Trailers authors
S. Ali A Moosavian
Department of Mechanical Engineering K. N. Toosi University of Technology
Mojtaba Rahimi Bidgoli
Department of Mechanical Engineering K. N. Toosi University of Technology
Ali Keymasi Khalaji
Department of Mechanical Engineering K. N. Toosi University of Technology
