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GLOBAL PATH-TRACKING FOR A MULTI-STEERED GENERAL 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
A multi-steered general n-trailer is considered in this work. A global path-tracking control strategy for the n-trailer is proposed. Three nonlinear control laws are used to solve the problem by means of a commutation scheme. This commutation scheme allows to avoid the singularities inherent to a feedback linearization scheme. Simulation results show that the proposed scheme has good performance.
Keywords: Discontinuos control, Feedback linearization, Mobile robots, Nonlinear systems, Singularities, Variable structure control
Session slot T-We-A21: Posters of Nonlinear Systems/Area code 2c : Non-linear Systems
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