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

55 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

Access to Document

10.1109/70.938393

Cite this

@article{bf02f8af48cf41d4b4d6a5a1d929ef05,

title = "Design of steering mechanism and control of nonholonomic trailer systems",

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.",

keywords = "Nonholonomic constraints, Passive steering, Path following, Practical mechanism, Trailer system",

author = "Yoshihiko Nakamura and Hideaki Ezaki and Yuegang Tan and Woojin Chung",

year = "2001",

month = jun,

doi = "10.1109/70.938393",

language = "English",

volume = "17",

pages = "367--374",

journal = "IEEE Transactions on Robotics and Automation",

issn = "1042-296X",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "3",

}

TY - JOUR

T1 - Design of steering mechanism and control of nonholonomic trailer systems

AU - Nakamura, Yoshihiko

AU - Ezaki, Hideaki

AU - Tan, Yuegang

AU - Chung, Woojin

PY - 2001/6

Y1 - 2001/6

N2 - 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.

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.

KW - Nonholonomic constraints

KW - Passive steering

KW - Path following

KW - Practical mechanism

KW - Trailer system

UR - http://www.scopus.com/inward/record.url?scp=0035357154&partnerID=8YFLogxK

U2 - 10.1109/70.938393

DO - 10.1109/70.938393

M3 - Article

AN - SCOPUS:0035357154

SN - 1042-296X

VL - 17

SP - 367

EP - 374

JO - IEEE Transactions on Robotics and Automation

JF - IEEE Transactions on Robotics and Automation

IS - 3

ER -

Design of steering mechanism and control of nonholonomic trailer systems

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this