Trajectory tracking control of a car-trailer system
نویسندگان
چکیده
This paper presents the experimental results of the tracking control of a car-trailer system. The proposed scheme involves three steps: 1) generate a path off-line using a path space iterative algorithm; 2) linearize the kinematic model about a trajectory which is constructed using the path; and 3) apply a time-varying linear quadratic regulator to track the trajectory. Experiments presented include parallel parking a car, docking a tractor-trailer vehicle, and parallel parking a double tractortrailer vehicle.
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ورودعنوان ژورنال:
- IEEE Trans. Contr. Sys. Techn.
دوره 5 شماره
صفحات -
تاریخ انتشار 1997