Path tracking control of a tractor-trailer wheeled robot kinematics with a passive steering angle

DOI10.1016/J.APM.2022.04.025zbMath1505.49030OpenAlexW4229052319MaRDI QIDQ2109703

Yanyan Li

Publication date: 21 December 2022

Published in: Applied Mathematical Modelling (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.apm.2022.04.025

zbMATH Keywords

non-holonomic constraintrelative curvaturedynamic tracking targetmotion lawpassive steering angletractor-trailer wheeled robot travelling at a low speed

Mathematics Subject Classification ID

Applications of optimal control and differential games (49N90) Automated systems (robots, etc.) in control theory (93C85) Linear-quadratic optimal control problems (49N10) Robot dynamics and control of rigid bodies (70E60)

Related Items (1)

An identical path tracking control strategy of the tractor-trailer wheeled mobile robot with an off-axle hitching based on a passive steering angle

Cites Work

• Turning motion control design of a two-wheeled inverted pendulum using curvature tracking and optimal control theory
• Dynamic modeling and tracking control of a car with \(n\) trailers

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