The problem of path-tracking for an autonomous vehicle composed of a tractor and 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.
An Input-Output Linearization Approach to the Control of an -Body Articulated Vehicle
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division January 3, 2001. Associate Editor: Y. Hurmuzlu.
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Bolzern, P., DeSantis, R. M., and Locatelli, A. (January 3, 2001). "An Input-Output Linearization Approach to the Control of an -Body Articulated Vehicle ." ASME. J. Dyn. Sys., Meas., Control. September 2001; 123(3): 309–316. https://doi.org/10.1115/1.1387010
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