Design of steering mechanism and control of nonholonomic trailer systems

Yoshihiko Nakamura; Hideaki Ezaki; Yuegang Tan; Woojin Chung

doi:10.1109/70.938393

Design of steering mechanism and control of nonholonomic trailer systems

Yoshihiko Nakamura, Hideaki Ezaki, Yuegang Tan, Woojin Chung

School of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

53 Citations (Scopus)

Abstract

A wheeled mobile robot with trailers has been studied as a class of nonholonomic systems. It is proved that a system of a tractor and trailers with an appropriate connecting mechanism can be stabilized to desired positions via nonholonomic motion control. Trailers, on the other hand, have been developed and widely used in the industry. The main focus of industrial design is set on reducing tracking error from a reference trajectory. This paper attempts to bridge over the gap between these two approaches. We develop a design theory of trailer systems with passive steering. The designed systems show a good performance in practical path following, and accept the chained form transformation and nonlinear control strategies for nonholonomic systems.

Original language	English
Pages (from-to)	367-374
Number of pages	8
Journal	IEEE Transactions on Robotics and Automation
Volume	17
Issue number	3
DOIs	https://doi.org/10.1109/70.938393
Publication status	Published - 2001 Jun

Keywords

Nonholonomic constraints
Passive steering
Path following
Practical mechanism
Trailer system

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/70.938393

Cite this

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AB - A wheeled mobile robot with trailers has been studied as a class of nonholonomic systems. It is proved that a system of a tractor and trailers with an appropriate connecting mechanism can be stabilized to desired positions via nonholonomic motion control. Trailers, on the other hand, have been developed and widely used in the industry. The main focus of industrial design is set on reducing tracking error from a reference trajectory. This paper attempts to bridge over the gap between these two approaches. We develop a design theory of trailer systems with passive steering. The designed systems show a good performance in practical path following, and accept the chained form transformation and nonlinear control strategies for nonholonomic systems.

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Design of steering mechanism and control of nonholonomic trailer systems

Abstract

Keywords

ASJC Scopus subject areas

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