Hybrid variable structure path tracking control of articulated vehicles

2004 ◽  
Author(s):  
A. Ferrara ◽  
L. Magnani
Keyword(s):  
Tracking Control ◽  
Variable Structure ◽  
Path Tracking ◽  
Hybrid Variable ◽  
Articulated Vehicles

Application of Nonlinear Control Theory to Path Tracking Control of Articulated Vehicles

1994 ◽  
Vol 27 (9) ◽  
pp. 29-32
Author(s):  
M. Sampei ◽  
T. Kobayashi ◽  
Y. Tajima ◽  
N. Shibui
Keyword(s):  
Control Theory ◽  
Nonlinear Control ◽  
Tracking Control ◽  
Path Tracking ◽  
Articulated Vehicles ◽  
Nonlinear Control Theory

On the Backward Path Tracking Control of N-Trailer Systems

2021 ◽  
Vol 1 (1) ◽  
pp. 13-20
Author(s):  
Julius Kolb ◽  
Gunter Nitzsche ◽  
Sebastian Wagner ◽  
Klaus Röbenack
Keyword(s):  
Tracking Control ◽  
Path Tracking ◽  
Stability Conditions ◽  
Control Law ◽  
Exact Linearization ◽  
Lateral Control ◽  
General Stability ◽  
Articulated Vehicles ◽  
Articulated Vehicle ◽  
Wheeled Vehicles

This paper considers the lateral control of articulated wheeled vehicles in backward motion. The parameterized articulated vehicle is composed of a car-like truck and N passive trailers, resulting in one single steerable axle. First a nonlinear path tracking control law based on exact linearization of an offset model is reviewed and the general stability conditions of such systems is presented. Second, a stability analysis for some vehicle cases is performed and verified in simulation. The possible application of this path tracking control law in real world articulated vehicles is discussed, and its limitations are shown.

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