Dynamic modeling and tracking control of a car with \(n\) trailers

DOI10.1007/s11044-015-9472-9zbMath1369.70014OpenAlexW1642760669MaRDI QIDQ2629347

S. Ali A. Moosavian, Ali Keymasi Khalaji

Publication date: 6 July 2016

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-015-9472-9

zbMATH Keywords

trajectory trackingnonholonomic systemdynamic modelingwheeled robotcar with \(n\) trailers

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Dynamics of multibody systems (70E55)

Related Items (4)

Qualitative analysis of the dynamics of a wheeled vehicle ⋮ Trajectory-tracking control from a multibody system dynamics perspective ⋮ Forward tracking of complex trajectories with non-Standard N-Trailers of non-minimum-phase kinematics avoiding a jackknife effect ⋮ Path tracking control of a tractor-trailer wheeled robot kinematics with a passive steering angle

Cites Work

• EP-based kinematic control and adaptive fuzzy sliding-mode dynamic control for wheeled mobile robots
• Nonlinear control systems.
• Semiglobal practical stabilization of nonholonomic wheeled mobile robots with saturated inputs
• Flatness and small-time controllability of multibody mobile robots: application to motion planning
• Some properties of the general n-trailer
• Control of chained systems application to path following and time-varying point-stabilization of mobile robots
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