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MODELING AND DYNAMIC FEEDBACK LINEARIZATION OF A MULTI-STEERED N-TRAILER
R. Orosco-Guerrero E. Aranda-Bricaire M. Velasco-Villa
Departamento de Ingeniería Eléctrica, Sección Mecatrónica,
CINVESTAV-IPN, México.
E-mail: {rorosco,earanda,velasco}@mail.cinvestav.mx
This paper develops the kinematic model of a class of multi-steered general n-trailer system. The proposed kinematic model includes as particular cases the general and standard n-trailer systems commonly found in the literature. It is shown that the system is completely linearizable by dynamic state feedback and the explicit design of the dynamic compensator is also presented.
Keywords: Mobile robots, Kinematics, Nonlinear systems, Feedback linearization, Models
Session slot T-Th-M07: Linearization of Nonlinear Systems/Area code 2c : Non-linear Systems
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