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contributor authorP. Bolzern
contributor authorR. M. DeSantis
contributor authorA. Locatelli
date accessioned2017-05-09T00:04:25Z
date available2017-05-09T00:04:25Z
date copyrightSeptember, 2001
date issued2001
identifier issn0022-0434
identifier otherJDSMAA-26286#309_1.pdf
identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/124931
description abstractThe problem of path-tracking for an autonomous vehicle composed of a tractor and n−1 trailers with off-axle hitching is considered in this paper. It is shown that an input-output feedback linearization technique can be adopted both in forward and backward maneuvers, leading to the stabilization of the path-tracking offset dynamics about circular paths. The location of the guide-point needs to be selected according to the direction of motion, and, when moving backward, the off-axle distances must be all positive.
publisherThe American Society of Mechanical Engineers (ASME)
titleAn Input-Output Linearization Approach to the Control of an n-Body Articulated Vehicle
typeJournal Paper
journal volume123
journal issue3
journal titleJournal of Dynamic Systems, Measurement, and Control
identifier doi10.1115/1.1387010
journal fristpage309
journal lastpage316
identifier eissn1528-9028
keywordsMotion
keywordsVehicles
keywordsDynamics (Mechanics) AND Control equipment
treeJournal of Dynamic Systems, Measurement, and Control:;2001:;volume( 123 ):;issue: 003
contenttypeFulltext


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