| contributor author | Ji-Chul Ryu | |
| contributor author | Jaume Franch | |
| contributor author | Sunil K. Agrawal | |
| date accessioned | 2017-05-09T00:27:08Z | |
| date available | 2017-05-09T00:27:08Z | |
| date copyright | July, 2008 | |
| date issued | 2008 | |
| identifier issn | 1555-1415 | |
| identifier other | JCNDDM-25657#031003_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/137542 | |
| description abstract | This paper presents a methodology for trajectory planning and tracking control of a tractor with a steerable trailer based on the system’s dynamic model. The theory of differential flatness is used as the basic approach in these developments. Flat outputs are found that linearize the system’s dynamic model using dynamic feedback linearization, a subclass of differential flatness. It is demonstrated that this property considerably simplifies motion planning and the development of controller. Simulation results are presented in the paper, which show that the developed controller has the desirable performance with exponential stability. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Motion Planning and Control of a Tractor With a Steerable Trailer Using Differential Flatness | |
| type | Journal Paper | |
| journal volume | 3 | |
| journal issue | 3 | |
| journal title | Journal of Computational and Nonlinear Dynamics | |
| identifier doi | 10.1115/1.2908178 | |
| journal fristpage | 31003 | |
| identifier eissn | 1555-1423 | |
| keywords | Control equipment | |
| keywords | Trajectories (Physics) | |
| keywords | Feedback | |
| keywords | Path planning | |
| keywords | Simulation results | |
| keywords | Dynamic models AND Wheels | |
| tree | Journal of Computational and Nonlinear Dynamics:;2008:;volume( 003 ):;issue: 003 | |
| contenttype | Fulltext | |
