contributor author | P. Bolzern | |
contributor author | R. M. DeSantis | |
contributor author | A. Locatelli | |
date accessioned | 2017-05-09T00:04:25Z | |
date available | 2017-05-09T00:04:25Z | |
date copyright | September, 2001 | |
date issued | 2001 | |
identifier issn | 0022-0434 | |
identifier other | JDSMAA-26286#309_1.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/124931 | |
description abstract | The 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. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | An Input-Output Linearization Approach to the Control of an n-Body Articulated Vehicle | |
type | Journal Paper | |
journal volume | 123 | |
journal issue | 3 | |
journal title | Journal of Dynamic Systems, Measurement, and Control | |
identifier doi | 10.1115/1.1387010 | |
journal fristpage | 309 | |
journal lastpage | 316 | |
identifier eissn | 1528-9028 | |
keywords | Motion | |
keywords | Vehicles | |
keywords | Dynamics (Mechanics) AND Control equipment | |
tree | Journal of Dynamic Systems, Measurement, and Control:;2001:;volume( 123 ):;issue: 003 | |
contenttype | Fulltext | |